From 17a1ae9d0e11e749cbe31012fe133c95ef9c7ae2 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Thu, 28 Jan 2021 11:28:28 +0100 Subject: [PATCH 01/11] rtems bugfixes and updates only --- osal/rtems/CMakeLists.txt | 6 +- osal/rtems/Clock.cpp | 6 +- osal/rtems/CpuUsage.cpp | 2 +- osal/rtems/FixedTimeslotTask.cpp | 140 ++++++++++++++++++ osal/rtems/FixedTimeslotTask.h | 81 ++++++++++ osal/rtems/MultiObjectTask.cpp | 92 ------------ osal/rtems/Mutex.cpp | 12 +- osal/rtems/Mutex.h | 2 +- osal/rtems/MutexFactory.cpp | 5 +- osal/rtems/PeriodicTask.cpp | 83 +++++++++++ .../{MultiObjectTask.h => PeriodicTask.h} | 18 +-- osal/rtems/PollingTask.cpp | 131 ---------------- osal/rtems/PollingTask.h | 85 ----------- osal/rtems/RTEMSTaskBase.cpp | 84 +++++++++++ osal/rtems/RTEMSTaskBase.h | 47 ++++++ osal/rtems/RtemsBasic.cpp | 1 + osal/rtems/RtemsBasic.h | 3 +- osal/rtems/TaskFactory.cpp | 21 ++- 18 files changed, 481 insertions(+), 338 deletions(-) create mode 100644 osal/rtems/FixedTimeslotTask.cpp create mode 100644 osal/rtems/FixedTimeslotTask.h delete mode 100644 osal/rtems/MultiObjectTask.cpp create mode 100644 osal/rtems/PeriodicTask.cpp rename osal/rtems/{MultiObjectTask.h => PeriodicTask.h} (90%) delete mode 100644 osal/rtems/PollingTask.cpp delete mode 100644 osal/rtems/PollingTask.h create mode 100644 osal/rtems/RTEMSTaskBase.cpp create mode 100644 osal/rtems/RTEMSTaskBase.h diff --git a/osal/rtems/CMakeLists.txt b/osal/rtems/CMakeLists.txt index bff031842..cd266125f 100644 --- a/osal/rtems/CMakeLists.txt +++ b/osal/rtems/CMakeLists.txt @@ -5,13 +5,13 @@ target_sources(${LIB_FSFW_NAME} InitTask.cpp InternalErrorCodes.cpp MessageQueue.cpp - MultiObjectTask.cpp + PeriodicTask.cpp Mutex.cpp MutexFactory.cpp - PollingTask.cpp + FixedTimeslotTask.cpp QueueFactory.cpp RtemsBasic.cpp - TaskBase.cpp + RTEMSTaskBase.cpp TaskFactory.cpp ) diff --git a/osal/rtems/Clock.cpp b/osal/rtems/Clock.cpp index 8bd7ac37e..9f4634cca 100644 --- a/osal/rtems/Clock.cpp +++ b/osal/rtems/Clock.cpp @@ -104,9 +104,13 @@ ReturnValue_t Clock::getClock_usecs(uint64_t* time) { } ReturnValue_t Clock::getDateAndTime(TimeOfDay_t* time) { - // TIsn't this a bug? Are RTEMS ticks always microseconds? + /* For all but the last field, the struct will be filled with the correct values */ rtems_time_of_day* timeRtems = reinterpret_cast(time); rtems_status_code status = rtems_clock_get_tod(timeRtems); + /* The last field now contains the RTEMS ticks of the seconds from 0 + to rtems_clock_get_ticks_per_second() minus one. We calculate the microseconds accordingly */ + timeRtems->ticks = static_cast(timeRtems->ticks) / + rtems_clock_get_ticks_per_second() * 1e6; switch (status) { case RTEMS_SUCCESSFUL: return HasReturnvaluesIF::RETURN_OK; diff --git a/osal/rtems/CpuUsage.cpp b/osal/rtems/CpuUsage.cpp index 6655c69b6..89c01336a 100644 --- a/osal/rtems/CpuUsage.cpp +++ b/osal/rtems/CpuUsage.cpp @@ -164,7 +164,7 @@ ReturnValue_t CpuUsage::ThreadData::deSerialize(const uint8_t** buffer, if (result != HasReturnvaluesIF::RETURN_OK) { return result; } - if ((*size = *size - MAX_LENGTH_OF_THREAD_NAME) < 0) { + if (*size < MAX_LENGTH_OF_THREAD_NAME) { return STREAM_TOO_SHORT; } memcpy(name, *buffer, MAX_LENGTH_OF_THREAD_NAME); diff --git a/osal/rtems/FixedTimeslotTask.cpp b/osal/rtems/FixedTimeslotTask.cpp new file mode 100644 index 000000000..3a3be6b32 --- /dev/null +++ b/osal/rtems/FixedTimeslotTask.cpp @@ -0,0 +1,140 @@ +#include "FixedTimeslotTask.h" +#include "RtemsBasic.h" + +#include "../../tasks/FixedSequenceSlot.h" +#include "../../objectmanager/SystemObjectIF.h" +#include "../../objectmanager/ObjectManagerIF.h" +#include "../../returnvalues/HasReturnvaluesIF.h" +#include "../../serviceinterface/ServiceInterface.h" + +#include +#include +#include +#include +#include +#include +#include + +#if FSFW_CPP_OSTREAM_ENABLED == 1 +#include +#endif + +#include +#include + +uint32_t FixedTimeslotTask::deadlineMissedCount = 0; + +FixedTimeslotTask::FixedTimeslotTask(const char *name, rtems_task_priority setPriority, + size_t setStack, uint32_t setOverallPeriod, void (*setDeadlineMissedFunc)(void)): + RTEMSTaskBase(setPriority, setStack, name), periodId(0), pst(setOverallPeriod) { + // All additional attributes are applied to the object. + this->deadlineMissedFunc = setDeadlineMissedFunc; +} + +FixedTimeslotTask::~FixedTimeslotTask() { +} + +rtems_task FixedTimeslotTask::taskEntryPoint(rtems_task_argument argument) { + /* The argument is re-interpreted as a FixedTimeslotTask */ + FixedTimeslotTask *originalTask(reinterpret_cast(argument)); + /* The task's functionality is called. */ + return originalTask->taskFunctionality(); + /* Should never be reached */ +#if FSFW_CPP_OSTREAM_ENABLED == 1 + sif::error << "Polling task " << originalTask->getId() << " returned from taskFunctionality." << + std::endl; +#endif +} + +void FixedTimeslotTask::missedDeadlineCounter() { + FixedTimeslotTask::deadlineMissedCount++; + if (FixedTimeslotTask::deadlineMissedCount % 10 == 0) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 + sif::error << "PST missed " << FixedTimeslotTask::deadlineMissedCount + << " deadlines." << std::endl; +#endif + } +} + +ReturnValue_t FixedTimeslotTask::startTask() { + rtems_status_code status = rtems_task_start(id, FixedTimeslotTask::taskEntryPoint, + rtems_task_argument((void *) this)); + if (status != RTEMS_SUCCESSFUL) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 + sif::error << "PollingTask::startTask for " << std::hex << this->getId() + << std::dec << " failed." << std::endl; +#endif + } + switch(status){ + case RTEMS_SUCCESSFUL: + //ask started successfully + return HasReturnvaluesIF::RETURN_OK; + default: + /* + RTEMS_INVALID_ADDRESS - invalid task entry point + RTEMS_INVALID_ID - invalid task id + RTEMS_INCORRECT_STATE - task not in the dormant state + RTEMS_ILLEGAL_ON_REMOTE_OBJECT - cannot start remote task */ + return HasReturnvaluesIF::RETURN_FAILED; + } +} + +ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId, + uint32_t slotTimeMs, int8_t executionStep) { + ExecutableObjectIF* object = objectManager->get(componentId); + if (object != nullptr) { + pst.addSlot(componentId, slotTimeMs, executionStep, object, this); + return HasReturnvaluesIF::RETURN_OK; + } + +#if FSFW_CPP_OSTREAM_ENABLED == 1 + sif::error << "Component " << std::hex << componentId << + " not found, not adding it to pst" << std::endl; +#endif + return HasReturnvaluesIF::RETURN_FAILED; +} + +uint32_t FixedTimeslotTask::getPeriodMs() const { + return pst.getLengthMs(); +} + +ReturnValue_t FixedTimeslotTask::checkSequence() const { + return pst.checkSequence(); +} + +void FixedTimeslotTask::taskFunctionality() { + /* A local iterator for the Polling Sequence Table is created to find the start time for + the first entry. */ + FixedSlotSequence::SlotListIter it = pst.current; + + /* Initialize the PST with the correct calling task */ + pst.intializeSequenceAfterTaskCreation(); + + /* The start time for the first entry is read. */ + rtems_interval interval = RtemsBasic::convertMsToTicks(it->pollingTimeMs); + RTEMSTaskBase::setAndStartPeriod(interval,&periodId); + //The task's "infinite" inner loop is entered. + while (1) { + if (pst.slotFollowsImmediately()) { + /* Do nothing */ + } + else { + /* The interval for the next polling slot is selected. */ + interval = RtemsBasic::convertMsToTicks(this->pst.getIntervalToNextSlotMs()); + /* The period is checked and restarted with the new interval. + If the deadline was missed, the deadlineMissedFunc is called. */ + rtems_status_code status = RTEMSTaskBase::restartPeriod(interval,periodId); + if (status == RTEMS_TIMEOUT) { + if (this->deadlineMissedFunc != nullptr) { + this->deadlineMissedFunc(); + } + } + } + /* The device handler for this slot is executed and the next one is chosen. */ + this->pst.executeAndAdvance(); + } +} + +ReturnValue_t FixedTimeslotTask::sleepFor(uint32_t ms){ + return RTEMSTaskBase::sleepFor(ms); +}; diff --git a/osal/rtems/FixedTimeslotTask.h b/osal/rtems/FixedTimeslotTask.h new file mode 100644 index 000000000..0d78c4748 --- /dev/null +++ b/osal/rtems/FixedTimeslotTask.h @@ -0,0 +1,81 @@ +#ifndef FSFW_OSAL_RTEMS_FIXEDTIMESLOTTASK_H_ +#define FSFW_OSAL_RTEMS_FIXEDTIMESLOTTASK_H_ + +#include "RTEMSTaskBase.h" +#include "../../tasks/FixedSlotSequence.h" +#include "../../tasks/FixedTimeslotTaskIF.h" + +class FixedTimeslotTask: public RTEMSTaskBase, public FixedTimeslotTaskIF { +public: + /** + * @brief The standard constructor of the class. + * @details + * This is the general constructor of the class. In addition to the TaskBase parameters, + * the following variables are passed: + * @param setDeadlineMissedFunc The function pointer to the deadline missed function + * that shall be assigned. + * @param getPst The object id of the completely initialized polling sequence. + */ + FixedTimeslotTask( const char *name, rtems_task_priority setPriority, size_t setStackSize, + uint32_t overallPeriod, void (*setDeadlineMissedFunc)()); + + /** + * @brief The destructor of the class. + * @details + * The destructor frees all heap memory that was allocated on thread initialization + * for the PST andthe device handlers. This is done by calling the PST's destructor. + */ + virtual ~FixedTimeslotTask( void ); + + ReturnValue_t startTask( void ); + /** + * This static function can be used as #deadlineMissedFunc. + * It counts missedDeadlines and prints the number of missed deadlines every 10th time. + */ + static void missedDeadlineCounter(); + /** + * A helper variable to count missed deadlines. + */ + static uint32_t deadlineMissedCount; + + ReturnValue_t addSlot(object_id_t componentId, uint32_t slotTimeMs, int8_t executionStep); + + uint32_t getPeriodMs() const; + + ReturnValue_t checkSequence() const; + + ReturnValue_t sleepFor(uint32_t ms); +protected: + /** + * @brief id of the associated OS period + */ + rtems_id periodId; + + FixedSlotSequence pst; + + /** + * @brief This attribute holds a function pointer that is executed when a deadline was missed. + * + * @details + * Another function may be announced to determine the actions to perform when a deadline + * was missed. Currently, only one function for missing any deadline is allowed. + * If not used, it shall be declared NULL. + */ + void ( *deadlineMissedFunc )( void ) = nullptr; + /** + * @brief This is the entry point in a new polling thread. + * @details This method is the entry point in the new thread + */ + static rtems_task taskEntryPoint( rtems_task_argument argument ); + + /** + * @brief This function holds the main functionality of the thread. + * @details + * Holding the main functionality of the task, this method is most important. + * It links the functionalities provided by FixedSlotSequence with the OS's system calls to + * keep the timing of the periods. + */ + void taskFunctionality( void ); +}; + +#endif /* FSFW_OSAL_RTEMS_FIXEDTIMESLOTTASK_H_ */ diff --git a/osal/rtems/MultiObjectTask.cpp b/osal/rtems/MultiObjectTask.cpp deleted file mode 100644 index b111f724c..000000000 --- a/osal/rtems/MultiObjectTask.cpp +++ /dev/null @@ -1,92 +0,0 @@ -/** - * @file MultiObjectTask.cpp - * @brief This file defines the MultiObjectTask class. - * @date 30.01.2014 - * @author baetz - */ - -#include "../../serviceinterface/ServiceInterfaceStream.h" -#include "../../tasks/ExecutableObjectIF.h" -#include "MultiObjectTask.h" - -MultiObjectTask::MultiObjectTask(const char *name, rtems_task_priority setPriority, - size_t setStack, rtems_interval setPeriod, void (*setDeadlineMissedFunc)()) : - TaskBase(setPriority, setStack, name), periodTicks( - RtemsBasic::convertMsToTicks(setPeriod)), periodId(0), deadlineMissedFunc( - setDeadlineMissedFunc) { -} - -MultiObjectTask::~MultiObjectTask(void) { - //Do not delete objects, we were responsible for ptrs only. - rtems_rate_monotonic_delete(periodId); -} -rtems_task MultiObjectTask::taskEntryPoint(rtems_task_argument argument) { - //The argument is re-interpreted as MultiObjectTask. The Task object is global, so it is found from any place. - MultiObjectTask *originalTask(reinterpret_cast(argument)); - originalTask->taskFunctionality(); -} - -ReturnValue_t MultiObjectTask::startTask() { - rtems_status_code status = rtems_task_start(id, MultiObjectTask::taskEntryPoint, - rtems_task_argument((void *) this)); - if (status != RTEMS_SUCCESSFUL) { -#if FSFW_CPP_OSTREAM_ENABLED == 1 - sif::error << "ObjectTask::startTask for " << std::hex << this->getId() - << std::dec << " failed." << std::endl; -#endif - } - switch(status){ - case RTEMS_SUCCESSFUL: - //ask started successfully - return HasReturnvaluesIF::RETURN_OK; - default: -/* RTEMS_INVALID_ADDRESS - invalid task entry point - RTEMS_INVALID_ID - invalid task id - RTEMS_INCORRECT_STATE - task not in the dormant state - RTEMS_ILLEGAL_ON_REMOTE_OBJECT - cannot start remote task */ - return HasReturnvaluesIF::RETURN_FAILED; - } -} - -ReturnValue_t MultiObjectTask::sleepFor(uint32_t ms) { - return TaskBase::sleepFor(ms); -} - -void MultiObjectTask::taskFunctionality() { - TaskBase::setAndStartPeriod(periodTicks,&periodId); - //The task's "infinite" inner loop is entered. - while (1) { - for (ObjectList::iterator it = objectList.begin(); - it != objectList.end(); ++it) { - (*it)->performOperation(); - } - rtems_status_code status = TaskBase::restartPeriod(periodTicks,periodId); - if (status == RTEMS_TIMEOUT) { - char nameSpace[8] = { 0 }; - char* ptr = rtems_object_get_name(getId(), sizeof(nameSpace), - nameSpace); -#if FSFW_CPP_OSTREAM_ENABLED == 1 - sif::error << "ObjectTask: " << ptr << " Deadline missed." << std::endl; -#endif - if (this->deadlineMissedFunc != nullptr) { - this->deadlineMissedFunc(); - } - } - } -} - -ReturnValue_t MultiObjectTask::addComponent(object_id_t object) { - ExecutableObjectIF* newObject = objectManager->get( - object); - if (newObject == nullptr) { - return HasReturnvaluesIF::RETURN_FAILED; - } - objectList.push_back(newObject); - newObject->setTaskIF(this); - - return HasReturnvaluesIF::RETURN_OK; -} - -uint32_t MultiObjectTask::getPeriodMs() const { - return RtemsBasic::convertTicksToMs(periodTicks); -} diff --git a/osal/rtems/Mutex.cpp b/osal/rtems/Mutex.cpp index 7dd512fae..f65c1f55b 100644 --- a/osal/rtems/Mutex.cpp +++ b/osal/rtems/Mutex.cpp @@ -1,18 +1,20 @@ #include "Mutex.h" -#include "../../serviceinterface/ServiceInterfaceStream.h" +#include "../../serviceinterface/ServiceInterface.h" uint8_t Mutex::count = 0; -Mutex::Mutex() : - mutexId(0) { +Mutex::Mutex() { rtems_name mutexName = ('M' << 24) + ('T' << 16) + ('X' << 8) + count++; rtems_status_code status = rtems_semaphore_create(mutexName, 1, RTEMS_BINARY_SEMAPHORE | RTEMS_PRIORITY | RTEMS_INHERIT_PRIORITY, 0, &mutexId); if (status != RTEMS_SUCCESSFUL) { #if FSFW_CPP_OSTREAM_ENABLED == 1 - sif::error << "Mutex: creation with name, id " << mutexName << ", " << mutexId - << " failed with " << status << std::endl; + sif::error << "Mutex::Mutex: Creation with name, id " << mutexName << ", " << mutexId << + " failed with " << status << std::endl; +#else + sif::printError("Mutex::Mutex: Creation with name, id %s, %d failed with %d\n", mutexName, + static_cast(mutexId), static_cast(status)); #endif } } diff --git a/osal/rtems/Mutex.h b/osal/rtems/Mutex.h index 4c8613183..c4917e08a 100644 --- a/osal/rtems/Mutex.h +++ b/osal/rtems/Mutex.h @@ -11,7 +11,7 @@ public: ReturnValue_t lockMutex(TimeoutType timeoutType, uint32_t timeoutMs = 0); ReturnValue_t unlockMutex(); private: - rtems_id mutexId; + rtems_id mutexId = 0; static uint8_t count; }; diff --git a/osal/rtems/MutexFactory.cpp b/osal/rtems/MutexFactory.cpp index 24af5fa95..adc599e94 100644 --- a/osal/rtems/MutexFactory.cpp +++ b/osal/rtems/MutexFactory.cpp @@ -1,6 +1,7 @@ -#include "../../ipc/MutexFactory.h" #include "Mutex.h" -#include "RtemsBasic.h" + +#include "../../ipc/MutexFactory.h" + MutexFactory* MutexFactory::factoryInstance = new MutexFactory(); diff --git a/osal/rtems/PeriodicTask.cpp b/osal/rtems/PeriodicTask.cpp new file mode 100644 index 000000000..067983cb6 --- /dev/null +++ b/osal/rtems/PeriodicTask.cpp @@ -0,0 +1,83 @@ +#include "PeriodicTask.h" + +#include "../../serviceinterface/ServiceInterface.h" +#include "../../tasks/ExecutableObjectIF.h" + +PeriodicTask::PeriodicTask(const char *name, rtems_task_priority setPriority, + size_t setStack, rtems_interval setPeriod, void (*setDeadlineMissedFunc)()) : + RTEMSTaskBase(setPriority, setStack, name), + periodTicks(RtemsBasic::convertMsToTicks(setPeriod)), + deadlineMissedFunc(setDeadlineMissedFunc) { +} + +PeriodicTask::~PeriodicTask(void) { + /* Do not delete objects, we were responsible for pointers only. */ + rtems_rate_monotonic_delete(periodId); +} + +rtems_task PeriodicTask::taskEntryPoint(rtems_task_argument argument) { + /* The argument is re-interpreted as MultiObjectTask. The Task object is global, + so it is found from any place. */ + PeriodicTask *originalTask(reinterpret_cast(argument)); + return originalTask->taskFunctionality();; +} + +ReturnValue_t PeriodicTask::startTask() { + rtems_status_code status = rtems_task_start(id, PeriodicTask::taskEntryPoint, + rtems_task_argument((void *) this)); + if (status != RTEMS_SUCCESSFUL) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 + sif::error << "ObjectTask::startTask for " << std::hex << this->getId() + << std::dec << " failed." << std::endl; +#endif + } + switch(status){ + case RTEMS_SUCCESSFUL: + /* Task started successfully */ + return HasReturnvaluesIF::RETURN_OK; + default: + /* RTEMS_INVALID_ADDRESS - invalid task entry point + RTEMS_INVALID_ID - invalid task id + RTEMS_INCORRECT_STATE - task not in the dormant state + RTEMS_ILLEGAL_ON_REMOTE_OBJECT - cannot start remote task */ + return HasReturnvaluesIF::RETURN_FAILED; + } +} + +ReturnValue_t PeriodicTask::sleepFor(uint32_t ms) { + return RTEMSTaskBase::sleepFor(ms); +} + +void PeriodicTask::taskFunctionality() { + RTEMSTaskBase::setAndStartPeriod(periodTicks,&periodId); + for (const auto& object: objectList) { + object->initializeAfterTaskCreation(); + } + /* The task's "infinite" inner loop is entered. */ + while (1) { + for (const auto& object: objectList) { + object->performOperation(); + } + rtems_status_code status = RTEMSTaskBase::restartPeriod(periodTicks,periodId); + if (status == RTEMS_TIMEOUT) { + if (this->deadlineMissedFunc != nullptr) { + this->deadlineMissedFunc(); + } + } + } +} + +ReturnValue_t PeriodicTask::addComponent(object_id_t object) { + ExecutableObjectIF* newObject = objectManager->get(object); + if (newObject == nullptr) { + return HasReturnvaluesIF::RETURN_FAILED; + } + objectList.push_back(newObject); + newObject->setTaskIF(this); + + return HasReturnvaluesIF::RETURN_OK; +} + +uint32_t PeriodicTask::getPeriodMs() const { + return RtemsBasic::convertTicksToMs(periodTicks); +} diff --git a/osal/rtems/MultiObjectTask.h b/osal/rtems/PeriodicTask.h similarity index 90% rename from osal/rtems/MultiObjectTask.h rename to osal/rtems/PeriodicTask.h index 04d122a3d..2ecce457a 100644 --- a/osal/rtems/MultiObjectTask.h +++ b/osal/rtems/PeriodicTask.h @@ -1,10 +1,10 @@ -#ifndef FSFW_OSAL_RTEMS_MULTIOBJECTTASK_H_ -#define FSFW_OSAL_RTEMS_MULTIOBJECTTASK_H_ +#ifndef FSFW_OSAL_RTEMS_PERIODICTASK_H_ +#define FSFW_OSAL_RTEMS_PERIODICTASK_H_ +#include "RTEMSTaskBase.h" #include "../../objectmanager/ObjectManagerIF.h" #include "../../tasks/PeriodicTaskIF.h" -#include "TaskBase.h" #include class ExecutableObjectIF; @@ -18,7 +18,7 @@ class ExecutableObjectIF; * @author baetz * @ingroup task_handling */ -class MultiObjectTask: public TaskBase, public PeriodicTaskIF { +class PeriodicTask: public RTEMSTaskBase, public PeriodicTaskIF { public: /** * @brief Standard constructor of the class. @@ -35,13 +35,13 @@ public: * @param setDeadlineMissedFunc The function pointer to the deadline missed function * that shall be assigned. */ - MultiObjectTask(const char *name, rtems_task_priority setPriority, size_t setStack, rtems_interval setPeriod, - void (*setDeadlineMissedFunc)()); + PeriodicTask(const char *name, rtems_task_priority setPriority, size_t setStack, + rtems_interval setPeriod, void (*setDeadlineMissedFunc)()); /** * @brief Currently, the executed object's lifetime is not coupled with the task object's * lifetime, so the destructor is empty. */ - virtual ~MultiObjectTask(void); + virtual ~PeriodicTask(void); /** * @brief The method to start the task. @@ -76,7 +76,7 @@ protected: /** * @brief id of the associated OS period */ - rtems_id periodId; + rtems_id periodId = 0; /** * @brief The pointer to the deadline-missed function. * @details This pointer stores the function that is executed if the task's deadline is missed. @@ -104,4 +104,4 @@ protected: void taskFunctionality(void); }; -#endif /* FSFW_OSAL_RTEMS_MULTIOBJECTTASK_H_ */ +#endif /* FSFW_OSAL_RTEMS_PERIODICTASK_H_ */ diff --git a/osal/rtems/PollingTask.cpp b/osal/rtems/PollingTask.cpp deleted file mode 100644 index 0ebf63e2e..000000000 --- a/osal/rtems/PollingTask.cpp +++ /dev/null @@ -1,131 +0,0 @@ -#include "../../tasks/FixedSequenceSlot.h" -#include "../../objectmanager/SystemObjectIF.h" -#include "../../objectmanager/ObjectManagerIF.h" -#include "PollingTask.h" -#include "RtemsBasic.h" -#include "../../returnvalues/HasReturnvaluesIF.h" -#include "../../serviceinterface/ServiceInterfaceStream.h" -#include -#include -#include -#include -#include -#include -#include -#include -#include - -uint32_t PollingTask::deadlineMissedCount = 0; - -PollingTask::PollingTask(const char *name, rtems_task_priority setPriority, - size_t setStack, uint32_t setOverallPeriod, - void (*setDeadlineMissedFunc)()) : - TaskBase(setPriority, setStack, name), periodId(0), pst( - setOverallPeriod) { - // All additional attributes are applied to the object. - this->deadlineMissedFunc = setDeadlineMissedFunc; -} - -PollingTask::~PollingTask() { -} - -rtems_task PollingTask::taskEntryPoint(rtems_task_argument argument) { - - //The argument is re-interpreted as PollingTask. - PollingTask *originalTask(reinterpret_cast(argument)); - //The task's functionality is called. - originalTask->taskFunctionality(); -#if FSFW_CPP_OSTREAM_ENABLED == 1 - sif::debug << "Polling task " << originalTask->getId() - << " returned from taskFunctionality." << std::endl; -#endif -} - -void PollingTask::missedDeadlineCounter() { - PollingTask::deadlineMissedCount++; - if (PollingTask::deadlineMissedCount % 10 == 0) { -#if FSFW_CPP_OSTREAM_ENABLED == 1 - sif::error << "PST missed " << PollingTask::deadlineMissedCount - << " deadlines." << std::endl; -#endif - } -} - -ReturnValue_t PollingTask::startTask() { - rtems_status_code status = rtems_task_start(id, PollingTask::taskEntryPoint, - rtems_task_argument((void *) this)); - if (status != RTEMS_SUCCESSFUL) { -#if FSFW_CPP_OSTREAM_ENABLED == 1 - sif::error << "PollingTask::startTask for " << std::hex << this->getId() - << std::dec << " failed." << std::endl; -#endif - } - switch(status){ - case RTEMS_SUCCESSFUL: - //ask started successfully - return HasReturnvaluesIF::RETURN_OK; - default: -/* RTEMS_INVALID_ADDRESS - invalid task entry point - RTEMS_INVALID_ID - invalid task id - RTEMS_INCORRECT_STATE - task not in the dormant state - RTEMS_ILLEGAL_ON_REMOTE_OBJECT - cannot start remote task */ - return HasReturnvaluesIF::RETURN_FAILED; - } -} - -ReturnValue_t PollingTask::addSlot(object_id_t componentId, - uint32_t slotTimeMs, int8_t executionStep) { - ExecutableObjectIF* object = objectManager->get(componentId); - if (object != nullptr) { - pst.addSlot(componentId, slotTimeMs, executionStep, object, this); - return HasReturnvaluesIF::RETURN_OK; - } - -#if FSFW_CPP_OSTREAM_ENABLED == 1 - sif::error << "Component " << std::hex << componentId << - " not found, not adding it to pst" << std::endl; -#endif - return HasReturnvaluesIF::RETURN_FAILED; -} - -uint32_t PollingTask::getPeriodMs() const { - return pst.getLengthMs(); -} - -ReturnValue_t PollingTask::checkSequence() const { - return pst.checkSequence(); -} - -#include - -void PollingTask::taskFunctionality() { - // A local iterator for the Polling Sequence Table is created to find the start time for the first entry. - FixedSlotSequence::SlotListIter it = pst.current; - - //The start time for the first entry is read. - rtems_interval interval = RtemsBasic::convertMsToTicks(it->pollingTimeMs); - TaskBase::setAndStartPeriod(interval,&periodId); - //The task's "infinite" inner loop is entered. - while (1) { - if (pst.slotFollowsImmediately()) { - //Do nothing - } else { - //The interval for the next polling slot is selected. - interval = RtemsBasic::convertMsToTicks(this->pst.getIntervalToNextSlotMs()); - //The period is checked and restarted with the new interval. - //If the deadline was missed, the deadlineMissedFunc is called. - rtems_status_code status = TaskBase::restartPeriod(interval,periodId); - if (status == RTEMS_TIMEOUT) { - if (this->deadlineMissedFunc != nullptr) { - this->deadlineMissedFunc(); - } - } - } - //The device handler for this slot is executed and the next one is chosen. - this->pst.executeAndAdvance(); - } -} - -ReturnValue_t PollingTask::sleepFor(uint32_t ms){ - return TaskBase::sleepFor(ms); -}; diff --git a/osal/rtems/PollingTask.h b/osal/rtems/PollingTask.h deleted file mode 100644 index 42deaf09d..000000000 --- a/osal/rtems/PollingTask.h +++ /dev/null @@ -1,85 +0,0 @@ -#ifndef FSFW_OSAL_RTEMS_POLLINGTASK_H_ -#define FSFW_OSAL_RTEMS_POLLINGTASK_H_ - -#include "../../tasks/FixedSlotSequence.h" -#include "../../tasks/FixedTimeslotTaskIF.h" -#include "TaskBase.h" - -class PollingTask: public TaskBase, public FixedTimeslotTaskIF { - public: - /** - * @brief The standard constructor of the class. - * - * @details This is the general constructor of the class. In addition to the TaskBase parameters, - * the following variables are passed: - * - * @param (*setDeadlineMissedFunc)() The function pointer to the deadline missed function that shall be assigned. - * - * @param getPst The object id of the completely initialized polling sequence. - */ - PollingTask( const char *name, rtems_task_priority setPriority, size_t setStackSize, uint32_t overallPeriod, void (*setDeadlineMissedFunc)()); - - /** - * @brief The destructor of the class. - * - * @details The destructor frees all heap memory that was allocated on thread initialization for the PST and - * the device handlers. This is done by calling the PST's destructor. - */ - virtual ~PollingTask( void ); - - ReturnValue_t startTask( void ); - /** - * This static function can be used as #deadlineMissedFunc. - * It counts missedDeadlines and prints the number of missed deadlines every 10th time. - */ - static void missedDeadlineCounter(); - /** - * A helper variable to count missed deadlines. - */ - static uint32_t deadlineMissedCount; - - ReturnValue_t addSlot(object_id_t componentId, uint32_t slotTimeMs, int8_t executionStep); - - uint32_t getPeriodMs() const; - - ReturnValue_t checkSequence() const; - - ReturnValue_t sleepFor(uint32_t ms); -protected: - /** - * @brief id of the associated OS period - */ - rtems_id periodId; - - FixedSlotSequence pst; - - /** - * @brief This attribute holds a function pointer that is executed when a deadline was missed. - * - * @details Another function may be announced to determine the actions to perform when a deadline was missed. - * Currently, only one function for missing any deadline is allowed. - * If not used, it shall be declared NULL. - */ - void ( *deadlineMissedFunc )( void ); - /** - * @brief This is the entry point in a new polling thread. - * - * @details This method, that is the generalOSAL::checkAndRestartPeriod( this->periodId, interval ); entry point in the new thread, is here set to generate - * and link the Polling Sequence Table to the thread object and start taskFunctionality() - * on success. If operation of the task is ended for some reason, - * the destructor is called to free allocated memory. - */ - static rtems_task taskEntryPoint( rtems_task_argument argument ); - - /** - * @brief This function holds the main functionality of the thread. - * - * - * @details Holding the main functionality of the task, this method is most important. - * It links the functionalities provided by FixedSlotSequence with the OS's System Calls - * to keep the timing of the periods. - */ - void taskFunctionality( void ); -}; - -#endif /* FSFW_OSAL_RTEMS_POLLINGTASK_H_ */ diff --git a/osal/rtems/RTEMSTaskBase.cpp b/osal/rtems/RTEMSTaskBase.cpp new file mode 100644 index 000000000..d0cdc8765 --- /dev/null +++ b/osal/rtems/RTEMSTaskBase.cpp @@ -0,0 +1,84 @@ +#include "RTEMSTaskBase.h" +#include "../../serviceinterface/ServiceInterface.h" + +const size_t PeriodicTaskIF::MINIMUM_STACK_SIZE = RTEMS_MINIMUM_STACK_SIZE; + +RTEMSTaskBase::RTEMSTaskBase(rtems_task_priority set_priority, size_t stack_size, + const char *name) { + rtems_name osalName = 0; + for (uint8_t i = 0; i < 4; i++) { + if (name[i] == 0) { + break; + } + osalName += name[i] << (8 * (3 - i)); + } + //The task is created with the operating system's system call. + rtems_status_code status = RTEMS_UNSATISFIED; + if (set_priority <= 99) { + status = rtems_task_create(osalName, + (0xFF - 2 * set_priority), stack_size, + RTEMS_PREEMPT | RTEMS_NO_TIMESLICE | RTEMS_NO_ASR, + RTEMS_FLOATING_POINT, &id); + } + ReturnValue_t result = convertReturnCode(status); + if (result != HasReturnvaluesIF::RETURN_OK) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 + sif::error << "TaskBase::TaskBase: createTask with name " << std::hex + << osalName << std::dec << " failed with return code " + << (uint32_t) status << std::endl; +#endif + this->id = 0; + } +} + +RTEMSTaskBase::~RTEMSTaskBase() { + rtems_task_delete(id); +} + +rtems_id RTEMSTaskBase::getId() { + return this->id; +} + +ReturnValue_t RTEMSTaskBase::sleepFor(uint32_t ms) { + rtems_status_code status = rtems_task_wake_after(RtemsBasic::convertMsToTicks(ms)); + return convertReturnCode(status); +} + + +ReturnValue_t RTEMSTaskBase::convertReturnCode(rtems_status_code inValue) { + switch (inValue) { + case RTEMS_SUCCESSFUL: + return HasReturnvaluesIF::RETURN_OK; + case RTEMS_MP_NOT_CONFIGURED: + return HasReturnvaluesIF::RETURN_FAILED; + case RTEMS_INVALID_NAME: + return HasReturnvaluesIF::RETURN_FAILED; + case RTEMS_TOO_MANY: + return HasReturnvaluesIF::RETURN_FAILED; + case RTEMS_INVALID_ADDRESS: + return HasReturnvaluesIF::RETURN_FAILED; + case RTEMS_UNSATISFIED: + return HasReturnvaluesIF::RETURN_FAILED; + case RTEMS_INVALID_PRIORITY: + return HasReturnvaluesIF::RETURN_FAILED; + default: + return HasReturnvaluesIF::RETURN_FAILED; + } + +} + + +ReturnValue_t RTEMSTaskBase::setAndStartPeriod(rtems_interval period, rtems_id *periodId) { + rtems_name periodName = (('P' << 24) + ('e' << 16) + ('r' << 8) + 'd'); + rtems_status_code status = rtems_rate_monotonic_create(periodName, periodId); + if (status == RTEMS_SUCCESSFUL) { + status = restartPeriod(period,*periodId); + } + return convertReturnCode(status); +} + +rtems_status_code RTEMSTaskBase::restartPeriod(rtems_interval period, rtems_id periodId){ + //This is necessary to avoid a call with period = 0, which does not start the period. + rtems_status_code status = rtems_rate_monotonic_period(periodId, period + 1); + return status; +} diff --git a/osal/rtems/RTEMSTaskBase.h b/osal/rtems/RTEMSTaskBase.h new file mode 100644 index 000000000..0b8be3e90 --- /dev/null +++ b/osal/rtems/RTEMSTaskBase.h @@ -0,0 +1,47 @@ +#ifndef FSFW_OSAL_RTEMS_RTEMSTASKBASE_H_ +#define FSFW_OSAL_RTEMS_RTEMSTASKBASE_H_ + +#include "RtemsBasic.h" +#include "../../tasks/PeriodicTaskIF.h" + +/** + * @brief This is the basic task handling class for rtems. + * + * @details Task creation base class for rtems. + */ +class RTEMSTaskBase { +protected: + /** + * @brief The class stores the task id it got assigned from the operating system in this attribute. + * If initialization fails, the id is set to zero. + */ + rtems_id id; +public: + /** + * @brief The constructor creates and initializes a task. + * @details This is accomplished by using the operating system call to create a task. The name is + * created automatically with the help od taskCounter. Priority and stack size are + * adjustable, all other attributes are set with default values. + * @param priority Sets the priority of a task. Values range from a low 0 to a high 99. + * @param stack_size The stack size reserved by the operating system for the task. + * @param nam The name of the Task, as a null-terminated String. Currently max 4 chars supported (excluding Null-terminator), rest will be truncated + */ + RTEMSTaskBase( rtems_task_priority priority, size_t stack_size, const char *name); + /** + * @brief In the destructor, the created task is deleted. + */ + virtual ~RTEMSTaskBase(); + /** + * @brief This method returns the task id of this class. + */ + rtems_id getId(); + + ReturnValue_t sleepFor(uint32_t ms); + static ReturnValue_t setAndStartPeriod(rtems_interval period, rtems_id *periodId); + static rtems_status_code restartPeriod(rtems_interval period, rtems_id periodId); +private: + static ReturnValue_t convertReturnCode(rtems_status_code inValue); +}; + + +#endif /* FSFW_OSAL_RTEMS_RTEMSTASKBASE_H_ */ diff --git a/osal/rtems/RtemsBasic.cpp b/osal/rtems/RtemsBasic.cpp index 17cb3458b..8ab0ddcd6 100644 --- a/osal/rtems/RtemsBasic.cpp +++ b/osal/rtems/RtemsBasic.cpp @@ -1,5 +1,6 @@ #include "RtemsBasic.h" +// TODO: Can this be removed? //ReturnValue_t RtemsBasic::convertReturnCode(rtems_status_code inValue) { // if (inValue == RTEMS_SUCCESSFUL) { diff --git a/osal/rtems/RtemsBasic.h b/osal/rtems/RtemsBasic.h index d0ca5abab..73f23186e 100644 --- a/osal/rtems/RtemsBasic.h +++ b/osal/rtems/RtemsBasic.h @@ -2,12 +2,13 @@ #define FSFW_OSAL_RTEMS_RTEMSBASIC_H_ #include "../../returnvalues/HasReturnvaluesIF.h" + #include #include #include #include -#include +#include class RtemsBasic { public: diff --git a/osal/rtems/TaskFactory.cpp b/osal/rtems/TaskFactory.cpp index bab48a44e..5dad69fe5 100644 --- a/osal/rtems/TaskFactory.cpp +++ b/osal/rtems/TaskFactory.cpp @@ -1,8 +1,9 @@ -#include "../../tasks/TaskFactory.h" -#include "MultiObjectTask.h" -#include "PollingTask.h" +#include "FixedTimeslotTask.h" +#include "PeriodicTask.h" #include "InitTask.h" #include "RtemsBasic.h" + +#include "../../tasks/TaskFactory.h" #include "../../returnvalues/HasReturnvaluesIF.h" //TODO: Different variant than the lazy loading in QueueFactory. What's better and why? @@ -15,15 +16,21 @@ TaskFactory* TaskFactory::instance() { return TaskFactory::factoryInstance; } -PeriodicTaskIF* TaskFactory::createPeriodicTask(TaskName name_,TaskPriority taskPriority_,TaskStackSize stackSize_,TaskPeriod periodInSeconds_,TaskDeadlineMissedFunction deadLineMissedFunction_) { +PeriodicTaskIF* TaskFactory::createPeriodicTask(TaskName name_, TaskPriority taskPriority_, + TaskStackSize stackSize_,TaskPeriod periodInSeconds_, + TaskDeadlineMissedFunction deadLineMissedFunction_) { rtems_interval taskPeriod = periodInSeconds_ * Clock::getTicksPerSecond(); - return static_cast(new MultiObjectTask(name_,taskPriority_,stackSize_,taskPeriod,deadLineMissedFunction_)); + return static_cast(new PeriodicTask(name_, taskPriority_, stackSize_, + taskPeriod,deadLineMissedFunction_)); } -FixedTimeslotTaskIF* TaskFactory::createFixedTimeslotTask(TaskName name_,TaskPriority taskPriority_,TaskStackSize stackSize_,TaskPeriod periodInSeconds_,TaskDeadlineMissedFunction deadLineMissedFunction_) { +FixedTimeslotTaskIF* TaskFactory::createFixedTimeslotTask(TaskName name_, + TaskPriority taskPriority_,TaskStackSize stackSize_,TaskPeriod periodInSeconds_, + TaskDeadlineMissedFunction deadLineMissedFunction_) { rtems_interval taskPeriod = periodInSeconds_ * Clock::getTicksPerSecond(); - return static_cast(new PollingTask(name_,taskPriority_,stackSize_,taskPeriod,deadLineMissedFunction_)); + return static_cast(new FixedTimeslotTask(name_, taskPriority_, + stackSize_, taskPeriod, deadLineMissedFunction_)); } ReturnValue_t TaskFactory::deleteTask(PeriodicTaskIF* task) { From ac6e34fc65693210bdebf836eb7467a9a972c64b Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Thu, 28 Jan 2021 11:50:33 +0100 Subject: [PATCH 02/11] replaced tabs by spaces with sed script --- action/ActionHelper.cpp | 166 ++-- action/ActionHelper.h | 176 ++--- action/ActionMessage.cpp | 86 +- action/ActionMessage.h | 44 +- action/CommandActionHelper.cpp | 188 ++--- action/CommandActionHelper.h | 36 +- action/CommandsActionsIF.h | 28 +- action/HasActionsIF.h | 44 +- action/SimpleActionHelper.cpp | 102 +-- action/SimpleActionHelper.h | 30 +- container/ArrayList.h | 398 +++++----- container/BinaryTree.h | 234 +++--- container/DynamicFIFO.h | 64 +- container/FIFO.h | 48 +- container/FIFOBase.h | 112 +-- container/FIFOBase.tpp | 82 +- container/FixedArrayList.h | 38 +- container/FixedMap.h | 354 ++++----- container/FixedOrderedMultimap.h | 282 +++---- container/FixedOrderedMultimap.tpp | 136 ++-- container/HybridIterator.h | 124 +-- container/IndexedRingMemoryArray.h | 1178 ++++++++++++++-------------- container/PlacementFactory.h | 84 +- container/RingBufferBase.h | 166 ++-- container/SharedRingBuffer.cpp | 40 +- container/SharedRingBuffer.h | 122 +-- container/SimpleRingBuffer.cpp | 152 ++-- container/SimpleRingBuffer.h | 178 ++--- container/SinglyLinkedList.h | 176 ++--- controller/CMakeLists.txt | 4 +- controller/ControllerBase.cpp | 152 ++-- controller/ControllerBase.h | 90 +-- 32 files changed, 2557 insertions(+), 2557 deletions(-) diff --git a/action/ActionHelper.cpp b/action/ActionHelper.cpp index 285579160..23c9d7329 100644 --- a/action/ActionHelper.cpp +++ b/action/ActionHelper.cpp @@ -6,120 +6,120 @@ ActionHelper::ActionHelper(HasActionsIF* setOwner, MessageQueueIF* useThisQueue) : - owner(setOwner), queueToUse(useThisQueue) { + owner(setOwner), queueToUse(useThisQueue) { } ActionHelper::~ActionHelper() { } ReturnValue_t ActionHelper::handleActionMessage(CommandMessage* command) { - if (command->getCommand() == ActionMessage::EXECUTE_ACTION) { - ActionId_t currentAction = ActionMessage::getActionId(command); - prepareExecution(command->getSender(), currentAction, - ActionMessage::getStoreId(command)); - return HasReturnvaluesIF::RETURN_OK; - } else { - return CommandMessage::UNKNOWN_COMMAND; - } + if (command->getCommand() == ActionMessage::EXECUTE_ACTION) { + ActionId_t currentAction = ActionMessage::getActionId(command); + prepareExecution(command->getSender(), currentAction, + ActionMessage::getStoreId(command)); + return HasReturnvaluesIF::RETURN_OK; + } else { + return CommandMessage::UNKNOWN_COMMAND; + } } ReturnValue_t ActionHelper::initialize(MessageQueueIF* queueToUse_) { - ipcStore = objectManager->get(objects::IPC_STORE); - if (ipcStore == nullptr) { - return HasReturnvaluesIF::RETURN_FAILED; - } - if(queueToUse_ != nullptr) { - setQueueToUse(queueToUse_); - } + ipcStore = objectManager->get(objects::IPC_STORE); + if (ipcStore == nullptr) { + return HasReturnvaluesIF::RETURN_FAILED; + } + if(queueToUse_ != nullptr) { + setQueueToUse(queueToUse_); + } - return HasReturnvaluesIF::RETURN_OK; + return HasReturnvaluesIF::RETURN_OK; } void ActionHelper::step(uint8_t step, MessageQueueId_t reportTo, ActionId_t commandId, ReturnValue_t result) { - CommandMessage reply; - ActionMessage::setStepReply(&reply, commandId, step + STEP_OFFSET, result); - queueToUse->sendMessage(reportTo, &reply); + CommandMessage reply; + ActionMessage::setStepReply(&reply, commandId, step + STEP_OFFSET, result); + queueToUse->sendMessage(reportTo, &reply); } void ActionHelper::finish(MessageQueueId_t reportTo, ActionId_t commandId, ReturnValue_t result) { - CommandMessage reply; - ActionMessage::setCompletionReply(&reply, commandId, result); - queueToUse->sendMessage(reportTo, &reply); + CommandMessage reply; + ActionMessage::setCompletionReply(&reply, commandId, result); + queueToUse->sendMessage(reportTo, &reply); } void ActionHelper::setQueueToUse(MessageQueueIF* queue) { - queueToUse = queue; + queueToUse = queue; } void ActionHelper::prepareExecution(MessageQueueId_t commandedBy, ActionId_t actionId, store_address_t dataAddress) { - const uint8_t* dataPtr = NULL; - size_t size = 0; - ReturnValue_t result = ipcStore->getData(dataAddress, &dataPtr, &size); - if (result != HasReturnvaluesIF::RETURN_OK) { - CommandMessage reply; - ActionMessage::setStepReply(&reply, actionId, 0, result); - queueToUse->sendMessage(commandedBy, &reply); - return; - } - result = owner->executeAction(actionId, commandedBy, dataPtr, size); - ipcStore->deleteData(dataAddress); - if(result == HasActionsIF::EXECUTION_FINISHED) { - CommandMessage reply; - ActionMessage::setCompletionReply(&reply, actionId, result); - queueToUse->sendMessage(commandedBy, &reply); - } - if (result != HasReturnvaluesIF::RETURN_OK) { - CommandMessage reply; - ActionMessage::setStepReply(&reply, actionId, 0, result); - queueToUse->sendMessage(commandedBy, &reply); - return; - } + const uint8_t* dataPtr = NULL; + size_t size = 0; + ReturnValue_t result = ipcStore->getData(dataAddress, &dataPtr, &size); + if (result != HasReturnvaluesIF::RETURN_OK) { + CommandMessage reply; + ActionMessage::setStepReply(&reply, actionId, 0, result); + queueToUse->sendMessage(commandedBy, &reply); + return; + } + result = owner->executeAction(actionId, commandedBy, dataPtr, size); + ipcStore->deleteData(dataAddress); + if(result == HasActionsIF::EXECUTION_FINISHED) { + CommandMessage reply; + ActionMessage::setCompletionReply(&reply, actionId, result); + queueToUse->sendMessage(commandedBy, &reply); + } + if (result != HasReturnvaluesIF::RETURN_OK) { + CommandMessage reply; + ActionMessage::setStepReply(&reply, actionId, 0, result); + queueToUse->sendMessage(commandedBy, &reply); + return; + } } ReturnValue_t ActionHelper::reportData(MessageQueueId_t reportTo, - ActionId_t replyId, SerializeIF* data, bool hideSender) { - CommandMessage reply; - store_address_t storeAddress; - uint8_t *dataPtr; - size_t maxSize = data->getSerializedSize(); - if (maxSize == 0) { - //No error, there's simply nothing to report. - return HasReturnvaluesIF::RETURN_OK; - } - size_t size = 0; - ReturnValue_t result = ipcStore->getFreeElement(&storeAddress, maxSize, - &dataPtr); - if (result != HasReturnvaluesIF::RETURN_OK) { - return result; - } - result = data->serialize(&dataPtr, &size, maxSize, - SerializeIF::Endianness::BIG); - if (result != HasReturnvaluesIF::RETURN_OK) { - ipcStore->deleteData(storeAddress); - return result; - } - // We don't need to report the objectId, as we receive REQUESTED data - // before the completion success message. - // True aperiodic replies need to be reported with - // another dedicated message. - ActionMessage::setDataReply(&reply, replyId, storeAddress); + ActionId_t replyId, SerializeIF* data, bool hideSender) { + CommandMessage reply; + store_address_t storeAddress; + uint8_t *dataPtr; + size_t maxSize = data->getSerializedSize(); + if (maxSize == 0) { + //No error, there's simply nothing to report. + return HasReturnvaluesIF::RETURN_OK; + } + size_t size = 0; + ReturnValue_t result = ipcStore->getFreeElement(&storeAddress, maxSize, + &dataPtr); + if (result != HasReturnvaluesIF::RETURN_OK) { + return result; + } + result = data->serialize(&dataPtr, &size, maxSize, + SerializeIF::Endianness::BIG); + if (result != HasReturnvaluesIF::RETURN_OK) { + ipcStore->deleteData(storeAddress); + return result; + } + // We don't need to report the objectId, as we receive REQUESTED data + // before the completion success message. + // True aperiodic replies need to be reported with + // another dedicated message. + ActionMessage::setDataReply(&reply, replyId, storeAddress); // If the sender needs to be hidden, for example to handle packet // as unrequested reply, this will be done here. - if (hideSender) { - result = MessageQueueSenderIF::sendMessage(reportTo, &reply); - } - else { - result = queueToUse->sendMessage(reportTo, &reply); - } + if (hideSender) { + result = MessageQueueSenderIF::sendMessage(reportTo, &reply); + } + else { + result = queueToUse->sendMessage(reportTo, &reply); + } - if (result != HasReturnvaluesIF::RETURN_OK){ - ipcStore->deleteData(storeAddress); - } - return result; + if (result != HasReturnvaluesIF::RETURN_OK){ + ipcStore->deleteData(storeAddress); + } + return result; } void ActionHelper::resetHelper() { @@ -155,7 +155,7 @@ ReturnValue_t ActionHelper::reportData(MessageQueueId_t reportTo, result = queueToUse->sendMessage(reportTo, &reply); } - if (result != HasReturnvaluesIF::RETURN_OK){ + if (result != HasReturnvaluesIF::RETURN_OK) { ipcStore->deleteData(storeAddress); } return result; diff --git a/action/ActionHelper.h b/action/ActionHelper.h index a91722f39..ae971d382 100644 --- a/action/ActionHelper.h +++ b/action/ActionHelper.h @@ -18,68 +18,68 @@ class HasActionsIF; class ActionHelper { public: - /** - * Constructor of the action helper - * @param setOwner Pointer to the owner of the interface - * @param useThisQueue messageQueue to be used, can be set during - * initialize function as well. - */ - ActionHelper(HasActionsIF* setOwner, MessageQueueIF* useThisQueue); + /** + * Constructor of the action helper + * @param setOwner Pointer to the owner of the interface + * @param useThisQueue messageQueue to be used, can be set during + * initialize function as well. + */ + ActionHelper(HasActionsIF* setOwner, MessageQueueIF* useThisQueue); - virtual ~ActionHelper(); - /** - * Function to be called from the owner with a new command message - * - * If the message is a valid action message the helper will use the - * executeAction function from HasActionsIF. - * If the message is invalid or the callback fails a message reply will be - * send to the sender of the message automatically. - * - * @param command Pointer to a command message received by the owner - * @return HasReturnvaluesIF::RETURN_OK if the message is a action message, - * CommandMessage::UNKNOW_COMMAND if this message ID is unkown - */ - ReturnValue_t handleActionMessage(CommandMessage* command); - /** - * Helper initialize function. Must be called before use of any other - * helper function - * @param queueToUse_ Pointer to the messageQueue to be used, optional - * if queue was set in constructor - * @return Returns RETURN_OK if successful - */ - ReturnValue_t initialize(MessageQueueIF* queueToUse_ = nullptr); - /** - * Function to be called from the owner to send a step message. - * Success or failure will be determined by the result value. - * - * @param step Number of steps already done - * @param reportTo The messageQueueId to report the step message to - * @param commandId ID of the executed command - * @param result Result of the execution - */ - void step(uint8_t step, MessageQueueId_t reportTo, - ActionId_t commandId, - ReturnValue_t result = HasReturnvaluesIF::RETURN_OK); - /** - * Function to be called by the owner to send a action completion message - * - * @param reportTo MessageQueueId_t to report the action completion message to - * @param commandId ID of the executed command - * @param result Result of the execution - */ - void finish(MessageQueueId_t reportTo, ActionId_t commandId, - ReturnValue_t result = HasReturnvaluesIF::RETURN_OK); - /** - * Function to be called by the owner if an action does report data. - * Takes a SerializeIF* pointer and serializes it into the IPC store. - * @param reportTo MessageQueueId_t to report the action completion - * message to - * @param replyId ID of the executed command - * @param data Pointer to the data - * @return Returns RETURN_OK if successful, otherwise failure code - */ - ReturnValue_t reportData(MessageQueueId_t reportTo, ActionId_t replyId, - SerializeIF* data, bool hideSender = false); + virtual ~ActionHelper(); + /** + * Function to be called from the owner with a new command message + * + * If the message is a valid action message the helper will use the + * executeAction function from HasActionsIF. + * If the message is invalid or the callback fails a message reply will be + * send to the sender of the message automatically. + * + * @param command Pointer to a command message received by the owner + * @return HasReturnvaluesIF::RETURN_OK if the message is a action message, + * CommandMessage::UNKNOW_COMMAND if this message ID is unkown + */ + ReturnValue_t handleActionMessage(CommandMessage* command); + /** + * Helper initialize function. Must be called before use of any other + * helper function + * @param queueToUse_ Pointer to the messageQueue to be used, optional + * if queue was set in constructor + * @return Returns RETURN_OK if successful + */ + ReturnValue_t initialize(MessageQueueIF* queueToUse_ = nullptr); + /** + * Function to be called from the owner to send a step message. + * Success or failure will be determined by the result value. + * + * @param step Number of steps already done + * @param reportTo The messageQueueId to report the step message to + * @param commandId ID of the executed command + * @param result Result of the execution + */ + void step(uint8_t step, MessageQueueId_t reportTo, + ActionId_t commandId, + ReturnValue_t result = HasReturnvaluesIF::RETURN_OK); + /** + * Function to be called by the owner to send a action completion message + * + * @param reportTo MessageQueueId_t to report the action completion message to + * @param commandId ID of the executed command + * @param result Result of the execution + */ + void finish(MessageQueueId_t reportTo, ActionId_t commandId, + ReturnValue_t result = HasReturnvaluesIF::RETURN_OK); + /** + * Function to be called by the owner if an action does report data. + * Takes a SerializeIF* pointer and serializes it into the IPC store. + * @param reportTo MessageQueueId_t to report the action completion + * message to + * @param replyId ID of the executed command + * @param data Pointer to the data + * @return Returns RETURN_OK if successful, otherwise failure code + */ + ReturnValue_t reportData(MessageQueueId_t reportTo, ActionId_t replyId, + SerializeIF* data, bool hideSender = false); /** * Function to be called by the owner if an action does report data. * Takes the raw data and writes it into the IPC store. @@ -91,35 +91,35 @@ public: */ ReturnValue_t reportData(MessageQueueId_t reportTo, ActionId_t replyId, const uint8_t* data, size_t dataSize, bool hideSender = false); - /** - * Function to setup the MessageQueueIF* of the helper. Can be used to - * set the MessageQueueIF* if message queue is unavailable at construction - * and initialize but must be setup before first call of other functions. - * @param queue Queue to be used by the helper - */ - void setQueueToUse(MessageQueueIF *queue); + /** + * Function to setup the MessageQueueIF* of the helper. Can be used to + * set the MessageQueueIF* if message queue is unavailable at construction + * and initialize but must be setup before first call of other functions. + * @param queue Queue to be used by the helper + */ + void setQueueToUse(MessageQueueIF *queue); protected: - //!< Increase of value of this per step - static const uint8_t STEP_OFFSET = 1; - HasActionsIF* owner;//!< Pointer to the owner - //! Queue to be used as response sender, has to be set in ctor or with - //! setQueueToUse - MessageQueueIF* queueToUse; - //! Pointer to an IPC Store, initialized during construction or - StorageManagerIF* ipcStore = nullptr; + //! Increase of value of this per step + static const uint8_t STEP_OFFSET = 1; + HasActionsIF* owner;//!< Pointer to the owner + //! Queue to be used as response sender, has to be set in ctor or with + //! setQueueToUse + MessageQueueIF* queueToUse; + //! Pointer to an IPC Store, initialized during construction or + StorageManagerIF* ipcStore = nullptr; - /** - * Internal function called by handleActionMessage - * @param commandedBy MessageQueueID of Commander - * @param actionId ID of action to be done - * @param dataAddress Address of additional data in IPC Store - */ - virtual void prepareExecution(MessageQueueId_t commandedBy, - ActionId_t actionId, store_address_t dataAddress); - /** - * @brief Default implementation is empty. - */ - virtual void resetHelper(); + /** + * Internal function called by handleActionMessage + * @param commandedBy MessageQueueID of Commander + * @param actionId ID of action to be done + * @param dataAddress Address of additional data in IPC Store + */ + virtual void prepareExecution(MessageQueueId_t commandedBy, + ActionId_t actionId, store_address_t dataAddress); + /** + * @brief Default implementation is empty. + */ + virtual void resetHelper(); }; #endif /* FSFW_ACTION_ACTIONHELPER_H_ */ diff --git a/action/ActionMessage.cpp b/action/ActionMessage.cpp index 1c00dee0f..c3eb47109 100644 --- a/action/ActionMessage.cpp +++ b/action/ActionMessage.cpp @@ -11,71 +11,71 @@ ActionMessage::~ActionMessage() { } void ActionMessage::setCommand(CommandMessage* message, ActionId_t fid, - store_address_t parameters) { - message->setCommand(EXECUTE_ACTION); - message->setParameter(fid); - message->setParameter2(parameters.raw); + store_address_t parameters) { + message->setCommand(EXECUTE_ACTION); + message->setParameter(fid); + message->setParameter2(parameters.raw); } ActionId_t ActionMessage::getActionId(const CommandMessage* message) { - return ActionId_t(message->getParameter()); + return ActionId_t(message->getParameter()); } store_address_t ActionMessage::getStoreId(const CommandMessage* message) { - store_address_t temp; - temp.raw = message->getParameter2(); - return temp; + store_address_t temp; + temp.raw = message->getParameter2(); + return temp; } void ActionMessage::setStepReply(CommandMessage* message, ActionId_t fid, uint8_t step, - ReturnValue_t result) { - if (result == HasReturnvaluesIF::RETURN_OK) { - message->setCommand(STEP_SUCCESS); - } else { - message->setCommand(STEP_FAILED); - } - message->setParameter(fid); - message->setParameter2((step << 16) + result); + ReturnValue_t result) { + if (result == HasReturnvaluesIF::RETURN_OK) { + message->setCommand(STEP_SUCCESS); + } else { + message->setCommand(STEP_FAILED); + } + message->setParameter(fid); + message->setParameter2((step << 16) + result); } uint8_t ActionMessage::getStep(const CommandMessage* message) { - return uint8_t((message->getParameter2() >> 16) & 0xFF); + return uint8_t((message->getParameter2() >> 16) & 0xFF); } ReturnValue_t ActionMessage::getReturnCode(const CommandMessage* message) { - return message->getParameter2() & 0xFFFF; + return message->getParameter2() & 0xFFFF; } void ActionMessage::setDataReply(CommandMessage* message, ActionId_t actionId, - store_address_t data) { - message->setCommand(DATA_REPLY); - message->setParameter(actionId); - message->setParameter2(data.raw); + store_address_t data) { + message->setCommand(DATA_REPLY); + message->setParameter(actionId); + message->setParameter2(data.raw); } void ActionMessage::setCompletionReply(CommandMessage* message, - ActionId_t fid, ReturnValue_t result) { - if (result == HasReturnvaluesIF::RETURN_OK or result == HasActionsIF::EXECUTION_FINISHED) { - message->setCommand(COMPLETION_SUCCESS); - } else { - message->setCommand(COMPLETION_FAILED); - } - message->setParameter(fid); - message->setParameter2(result); + ActionId_t fid, ReturnValue_t result) { + if (result == HasReturnvaluesIF::RETURN_OK or result == HasActionsIF::EXECUTION_FINISHED) { + message->setCommand(COMPLETION_SUCCESS); + } else { + message->setCommand(COMPLETION_FAILED); + } + message->setParameter(fid); + message->setParameter2(result); } void ActionMessage::clear(CommandMessage* message) { - switch(message->getCommand()) { - case EXECUTE_ACTION: - case DATA_REPLY: { - StorageManagerIF *ipcStore = objectManager->get( - objects::IPC_STORE); - if (ipcStore != NULL) { - ipcStore->deleteData(getStoreId(message)); - } - break; - } - default: - break; - } + switch(message->getCommand()) { + case EXECUTE_ACTION: + case DATA_REPLY: { + StorageManagerIF *ipcStore = objectManager->get( + objects::IPC_STORE); + if (ipcStore != NULL) { + ipcStore->deleteData(getStoreId(message)); + } + break; + } + default: + break; + } } diff --git a/action/ActionMessage.h b/action/ActionMessage.h index deb110952..246ac601d 100644 --- a/action/ActionMessage.h +++ b/action/ActionMessage.h @@ -15,29 +15,29 @@ using ActionId_t = uint32_t; */ class ActionMessage { private: - ActionMessage(); + ActionMessage(); public: - static const uint8_t MESSAGE_ID = messagetypes::ACTION; - static const Command_t EXECUTE_ACTION = MAKE_COMMAND_ID(1); - static const Command_t STEP_SUCCESS = MAKE_COMMAND_ID(2); - static const Command_t STEP_FAILED = MAKE_COMMAND_ID(3); - static const Command_t DATA_REPLY = MAKE_COMMAND_ID(4); - static const Command_t COMPLETION_SUCCESS = MAKE_COMMAND_ID(5); - static const Command_t COMPLETION_FAILED = MAKE_COMMAND_ID(6); - virtual ~ActionMessage(); - static void setCommand(CommandMessage* message, ActionId_t fid, - store_address_t parameters); - static ActionId_t getActionId(const CommandMessage* message ); - static store_address_t getStoreId(const CommandMessage* message ); - static void setStepReply(CommandMessage* message, ActionId_t fid, - uint8_t step, ReturnValue_t result = HasReturnvaluesIF::RETURN_OK); - static uint8_t getStep(const CommandMessage* message ); - static ReturnValue_t getReturnCode(const CommandMessage* message ); - static void setDataReply(CommandMessage* message, ActionId_t actionId, - store_address_t data); - static void setCompletionReply(CommandMessage* message, ActionId_t fid, - ReturnValue_t result = HasReturnvaluesIF::RETURN_OK); - static void clear(CommandMessage* message); + static const uint8_t MESSAGE_ID = messagetypes::ACTION; + static const Command_t EXECUTE_ACTION = MAKE_COMMAND_ID(1); + static const Command_t STEP_SUCCESS = MAKE_COMMAND_ID(2); + static const Command_t STEP_FAILED = MAKE_COMMAND_ID(3); + static const Command_t DATA_REPLY = MAKE_COMMAND_ID(4); + static const Command_t COMPLETION_SUCCESS = MAKE_COMMAND_ID(5); + static const Command_t COMPLETION_FAILED = MAKE_COMMAND_ID(6); + virtual ~ActionMessage(); + static void setCommand(CommandMessage* message, ActionId_t fid, + store_address_t parameters); + static ActionId_t getActionId(const CommandMessage* message ); + static store_address_t getStoreId(const CommandMessage* message ); + static void setStepReply(CommandMessage* message, ActionId_t fid, + uint8_t step, ReturnValue_t result = HasReturnvaluesIF::RETURN_OK); + static uint8_t getStep(const CommandMessage* message ); + static ReturnValue_t getReturnCode(const CommandMessage* message ); + static void setDataReply(CommandMessage* message, ActionId_t actionId, + store_address_t data); + static void setCompletionReply(CommandMessage* message, ActionId_t fid, + ReturnValue_t result = HasReturnvaluesIF::RETURN_OK); + static void clear(CommandMessage* message); }; #endif /* FSFW_ACTION_ACTIONMESSAGE_H_ */ diff --git a/action/CommandActionHelper.cpp b/action/CommandActionHelper.cpp index 4e88f3c34..148b36575 100644 --- a/action/CommandActionHelper.cpp +++ b/action/CommandActionHelper.cpp @@ -5,123 +5,123 @@ #include "../objectmanager/ObjectManagerIF.h" CommandActionHelper::CommandActionHelper(CommandsActionsIF *setOwner) : - owner(setOwner), queueToUse(NULL), ipcStore( - NULL), commandCount(0), lastTarget(0) { + owner(setOwner), queueToUse(NULL), ipcStore( + NULL), commandCount(0), lastTarget(0) { } CommandActionHelper::~CommandActionHelper() { } ReturnValue_t CommandActionHelper::commandAction(object_id_t commandTo, - ActionId_t actionId, SerializeIF *data) { - HasActionsIF *receiver = objectManager->get(commandTo); - if (receiver == NULL) { - return CommandsActionsIF::OBJECT_HAS_NO_FUNCTIONS; - } - store_address_t storeId; - uint8_t *storePointer; - size_t maxSize = data->getSerializedSize(); - ReturnValue_t result = ipcStore->getFreeElement(&storeId, maxSize, - &storePointer); - if (result != HasReturnvaluesIF::RETURN_OK) { - return result; - } - size_t size = 0; - result = data->serialize(&storePointer, &size, maxSize, - SerializeIF::Endianness::BIG); - if (result != HasReturnvaluesIF::RETURN_OK) { - return result; - } - return sendCommand(receiver->getCommandQueue(), actionId, storeId); + ActionId_t actionId, SerializeIF *data) { + HasActionsIF *receiver = objectManager->get(commandTo); + if (receiver == NULL) { + return CommandsActionsIF::OBJECT_HAS_NO_FUNCTIONS; + } + store_address_t storeId; + uint8_t *storePointer; + size_t maxSize = data->getSerializedSize(); + ReturnValue_t result = ipcStore->getFreeElement(&storeId, maxSize, + &storePointer); + if (result != HasReturnvaluesIF::RETURN_OK) { + return result; + } + size_t size = 0; + result = data->serialize(&storePointer, &size, maxSize, + SerializeIF::Endianness::BIG); + if (result != HasReturnvaluesIF::RETURN_OK) { + return result; + } + return sendCommand(receiver->getCommandQueue(), actionId, storeId); } ReturnValue_t CommandActionHelper::commandAction(object_id_t commandTo, - ActionId_t actionId, const uint8_t *data, uint32_t size) { -// if (commandCount != 0) { -// return CommandsFunctionsIF::ALREADY_COMMANDING; -// } - HasActionsIF *receiver = objectManager->get(commandTo); - if (receiver == NULL) { - return CommandsActionsIF::OBJECT_HAS_NO_FUNCTIONS; - } - store_address_t storeId; - ReturnValue_t result = ipcStore->addData(&storeId, data, size); - if (result != HasReturnvaluesIF::RETURN_OK) { - return result; - } - return sendCommand(receiver->getCommandQueue(), actionId, storeId); + ActionId_t actionId, const uint8_t *data, uint32_t size) { +// if (commandCount != 0) { +// return CommandsFunctionsIF::ALREADY_COMMANDING; +// } + HasActionsIF *receiver = objectManager->get(commandTo); + if (receiver == NULL) { + return CommandsActionsIF::OBJECT_HAS_NO_FUNCTIONS; + } + store_address_t storeId; + ReturnValue_t result = ipcStore->addData(&storeId, data, size); + if (result != HasReturnvaluesIF::RETURN_OK) { + return result; + } + return sendCommand(receiver->getCommandQueue(), actionId, storeId); } ReturnValue_t CommandActionHelper::sendCommand(MessageQueueId_t queueId, - ActionId_t actionId, store_address_t storeId) { - CommandMessage command; - ActionMessage::setCommand(&command, actionId, storeId); - ReturnValue_t result = queueToUse->sendMessage(queueId, &command); - if (result != HasReturnvaluesIF::RETURN_OK) { - ipcStore->deleteData(storeId); - } - lastTarget = queueId; - commandCount++; - return result; + ActionId_t actionId, store_address_t storeId) { + CommandMessage command; + ActionMessage::setCommand(&command, actionId, storeId); + ReturnValue_t result = queueToUse->sendMessage(queueId, &command); + if (result != HasReturnvaluesIF::RETURN_OK) { + ipcStore->deleteData(storeId); + } + lastTarget = queueId; + commandCount++; + return result; } ReturnValue_t CommandActionHelper::initialize() { - ipcStore = objectManager->get(objects::IPC_STORE); - if (ipcStore == NULL) { - return HasReturnvaluesIF::RETURN_FAILED; - } + ipcStore = objectManager->get(objects::IPC_STORE); + if (ipcStore == NULL) { + return HasReturnvaluesIF::RETURN_FAILED; + } - queueToUse = owner->getCommandQueuePtr(); - if (queueToUse == NULL) { - return HasReturnvaluesIF::RETURN_FAILED; - } - return HasReturnvaluesIF::RETURN_OK; + queueToUse = owner->getCommandQueuePtr(); + if (queueToUse == NULL) { + return HasReturnvaluesIF::RETURN_FAILED; + } + return HasReturnvaluesIF::RETURN_OK; } ReturnValue_t CommandActionHelper::handleReply(CommandMessage *reply) { - if (reply->getSender() != lastTarget) { - return HasReturnvaluesIF::RETURN_FAILED; - } - switch (reply->getCommand()) { - case ActionMessage::COMPLETION_SUCCESS: - commandCount--; - owner->completionSuccessfulReceived(ActionMessage::getActionId(reply)); - return HasReturnvaluesIF::RETURN_OK; - case ActionMessage::COMPLETION_FAILED: - commandCount--; - owner->completionFailedReceived(ActionMessage::getActionId(reply), - ActionMessage::getReturnCode(reply)); - return HasReturnvaluesIF::RETURN_OK; - case ActionMessage::STEP_SUCCESS: - owner->stepSuccessfulReceived(ActionMessage::getActionId(reply), - ActionMessage::getStep(reply)); - return HasReturnvaluesIF::RETURN_OK; - case ActionMessage::STEP_FAILED: - commandCount--; - owner->stepFailedReceived(ActionMessage::getActionId(reply), - ActionMessage::getStep(reply), - ActionMessage::getReturnCode(reply)); - return HasReturnvaluesIF::RETURN_OK; - case ActionMessage::DATA_REPLY: - extractDataForOwner(ActionMessage::getActionId(reply), - ActionMessage::getStoreId(reply)); - return HasReturnvaluesIF::RETURN_OK; - default: - return HasReturnvaluesIF::RETURN_FAILED; - } + if (reply->getSender() != lastTarget) { + return HasReturnvaluesIF::RETURN_FAILED; + } + switch (reply->getCommand()) { + case ActionMessage::COMPLETION_SUCCESS: + commandCount--; + owner->completionSuccessfulReceived(ActionMessage::getActionId(reply)); + return HasReturnvaluesIF::RETURN_OK; + case ActionMessage::COMPLETION_FAILED: + commandCount--; + owner->completionFailedReceived(ActionMessage::getActionId(reply), + ActionMessage::getReturnCode(reply)); + return HasReturnvaluesIF::RETURN_OK; + case ActionMessage::STEP_SUCCESS: + owner->stepSuccessfulReceived(ActionMessage::getActionId(reply), + ActionMessage::getStep(reply)); + return HasReturnvaluesIF::RETURN_OK; + case ActionMessage::STEP_FAILED: + commandCount--; + owner->stepFailedReceived(ActionMessage::getActionId(reply), + ActionMessage::getStep(reply), + ActionMessage::getReturnCode(reply)); + return HasReturnvaluesIF::RETURN_OK; + case ActionMessage::DATA_REPLY: + extractDataForOwner(ActionMessage::getActionId(reply), + ActionMessage::getStoreId(reply)); + return HasReturnvaluesIF::RETURN_OK; + default: + return HasReturnvaluesIF::RETURN_FAILED; + } } uint8_t CommandActionHelper::getCommandCount() const { - return commandCount; + return commandCount; } void CommandActionHelper::extractDataForOwner(ActionId_t actionId, store_address_t storeId) { - const uint8_t * data = NULL; - size_t size = 0; - ReturnValue_t result = ipcStore->getData(storeId, &data, &size); - if (result != HasReturnvaluesIF::RETURN_OK) { - return; - } - owner->dataReceived(actionId, data, size); - ipcStore->deleteData(storeId); + const uint8_t * data = NULL; + size_t size = 0; + ReturnValue_t result = ipcStore->getData(storeId, &data, &size); + if (result != HasReturnvaluesIF::RETURN_OK) { + return; + } + owner->dataReceived(actionId, data, size); + ipcStore->deleteData(storeId); } diff --git a/action/CommandActionHelper.h b/action/CommandActionHelper.h index cfed8c941..96ef1763a 100644 --- a/action/CommandActionHelper.h +++ b/action/CommandActionHelper.h @@ -11,26 +11,26 @@ class CommandsActionsIF; class CommandActionHelper { - friend class CommandsActionsIF; + friend class CommandsActionsIF; public: - CommandActionHelper(CommandsActionsIF* owner); - virtual ~CommandActionHelper(); - ReturnValue_t commandAction(object_id_t commandTo, - ActionId_t actionId, const uint8_t* data, uint32_t size); - ReturnValue_t commandAction(object_id_t commandTo, - ActionId_t actionId, SerializeIF* data); - ReturnValue_t initialize(); - ReturnValue_t handleReply(CommandMessage* reply); - uint8_t getCommandCount() const; + CommandActionHelper(CommandsActionsIF* owner); + virtual ~CommandActionHelper(); + ReturnValue_t commandAction(object_id_t commandTo, + ActionId_t actionId, const uint8_t* data, uint32_t size); + ReturnValue_t commandAction(object_id_t commandTo, + ActionId_t actionId, SerializeIF* data); + ReturnValue_t initialize(); + ReturnValue_t handleReply(CommandMessage* reply); + uint8_t getCommandCount() const; private: - CommandsActionsIF* owner; - MessageQueueIF* queueToUse; - StorageManagerIF* ipcStore; - uint8_t commandCount; - MessageQueueId_t lastTarget; - void extractDataForOwner(ActionId_t actionId, store_address_t storeId); - ReturnValue_t sendCommand(MessageQueueId_t queueId, ActionId_t actionId, - store_address_t storeId); + CommandsActionsIF* owner; + MessageQueueIF* queueToUse; + StorageManagerIF* ipcStore; + uint8_t commandCount; + MessageQueueId_t lastTarget; + void extractDataForOwner(ActionId_t actionId, store_address_t storeId); + ReturnValue_t sendCommand(MessageQueueId_t queueId, ActionId_t actionId, + store_address_t storeId); }; #endif /* COMMANDACTIONHELPER_H_ */ diff --git a/action/CommandsActionsIF.h b/action/CommandsActionsIF.h index 491bfc703..fe7e856c2 100644 --- a/action/CommandsActionsIF.h +++ b/action/CommandsActionsIF.h @@ -15,22 +15,22 @@ * - replyReceived(id, step, cause) (if cause == OK, it's a success). */ class CommandsActionsIF { - friend class CommandActionHelper; + friend class CommandActionHelper; public: - static const uint8_t INTERFACE_ID = CLASS_ID::COMMANDS_ACTIONS_IF; - static const ReturnValue_t OBJECT_HAS_NO_FUNCTIONS = MAKE_RETURN_CODE(1); - static const ReturnValue_t ALREADY_COMMANDING = MAKE_RETURN_CODE(2); - virtual ~CommandsActionsIF() {} - virtual MessageQueueIF* getCommandQueuePtr() = 0; + static const uint8_t INTERFACE_ID = CLASS_ID::COMMANDS_ACTIONS_IF; + static const ReturnValue_t OBJECT_HAS_NO_FUNCTIONS = MAKE_RETURN_CODE(1); + static const ReturnValue_t ALREADY_COMMANDING = MAKE_RETURN_CODE(2); + virtual ~CommandsActionsIF() {} + virtual MessageQueueIF* getCommandQueuePtr() = 0; protected: - virtual void stepSuccessfulReceived(ActionId_t actionId, uint8_t step) = 0; - virtual void stepFailedReceived(ActionId_t actionId, uint8_t step, - ReturnValue_t returnCode) = 0; - virtual void dataReceived(ActionId_t actionId, const uint8_t* data, - uint32_t size) = 0; - virtual void completionSuccessfulReceived(ActionId_t actionId) = 0; - virtual void completionFailedReceived(ActionId_t actionId, - ReturnValue_t returnCode) = 0; + virtual void stepSuccessfulReceived(ActionId_t actionId, uint8_t step) = 0; + virtual void stepFailedReceived(ActionId_t actionId, uint8_t step, + ReturnValue_t returnCode) = 0; + virtual void dataReceived(ActionId_t actionId, const uint8_t* data, + uint32_t size) = 0; + virtual void completionSuccessfulReceived(ActionId_t actionId) = 0; + virtual void completionFailedReceived(ActionId_t actionId, + ReturnValue_t returnCode) = 0; }; diff --git a/action/HasActionsIF.h b/action/HasActionsIF.h index 690f03698..056e674c3 100644 --- a/action/HasActionsIF.h +++ b/action/HasActionsIF.h @@ -35,28 +35,28 @@ */ class HasActionsIF { public: - static const uint8_t INTERFACE_ID = CLASS_ID::HAS_ACTIONS_IF; - static const ReturnValue_t IS_BUSY = MAKE_RETURN_CODE(1); - static const ReturnValue_t INVALID_PARAMETERS = MAKE_RETURN_CODE(2); - static const ReturnValue_t EXECUTION_FINISHED = MAKE_RETURN_CODE(3); - static const ReturnValue_t INVALID_ACTION_ID = MAKE_RETURN_CODE(4); - virtual ~HasActionsIF() { } - /** - * Function to get the MessageQueueId_t of the implementing object - * @return MessageQueueId_t of the object - */ - virtual MessageQueueId_t getCommandQueue() const = 0; - /** - * Execute or initialize the execution of a certain function. - * The ActionHelpers will execute this function and behave differently - * depending on the returnvalue. - * - * @return - * -@c EXECUTION_FINISHED Finish reply will be generated - * -@c Not RETURN_OK Step failure reply will be generated - */ - virtual ReturnValue_t executeAction(ActionId_t actionId, - MessageQueueId_t commandedBy, const uint8_t* data, size_t size) = 0; + static const uint8_t INTERFACE_ID = CLASS_ID::HAS_ACTIONS_IF; + static const ReturnValue_t IS_BUSY = MAKE_RETURN_CODE(1); + static const ReturnValue_t INVALID_PARAMETERS = MAKE_RETURN_CODE(2); + static const ReturnValue_t EXECUTION_FINISHED = MAKE_RETURN_CODE(3); + static const ReturnValue_t INVALID_ACTION_ID = MAKE_RETURN_CODE(4); + virtual ~HasActionsIF() { } + /** + * Function to get the MessageQueueId_t of the implementing object + * @return MessageQueueId_t of the object + */ + virtual MessageQueueId_t getCommandQueue() const = 0; + /** + * Execute or initialize the execution of a certain function. + * The ActionHelpers will execute this function and behave differently + * depending on the returnvalue. + * + * @return + * -@c EXECUTION_FINISHED Finish reply will be generated + * -@c Not RETURN_OK Step failure reply will be generated + */ + virtual ReturnValue_t executeAction(ActionId_t actionId, + MessageQueueId_t commandedBy, const uint8_t* data, size_t size) = 0; }; diff --git a/action/SimpleActionHelper.cpp b/action/SimpleActionHelper.cpp index af57736c8..f77d01473 100644 --- a/action/SimpleActionHelper.cpp +++ b/action/SimpleActionHelper.cpp @@ -2,74 +2,74 @@ #include "SimpleActionHelper.h" SimpleActionHelper::SimpleActionHelper(HasActionsIF* setOwner, - MessageQueueIF* useThisQueue) : - ActionHelper(setOwner, useThisQueue), isExecuting(false) { + MessageQueueIF* useThisQueue) : + ActionHelper(setOwner, useThisQueue), isExecuting(false) { } SimpleActionHelper::~SimpleActionHelper() { } void SimpleActionHelper::step(ReturnValue_t result) { - // STEP_OFFESET is subtracted to compensate for adding offset in base - // method, which is not necessary here. - ActionHelper::step(stepCount - STEP_OFFSET, lastCommander, lastAction, - result); - if (result != HasReturnvaluesIF::RETURN_OK) { - resetHelper(); - } + // STEP_OFFESET is subtracted to compensate for adding offset in base + // method, which is not necessary here. + ActionHelper::step(stepCount - STEP_OFFSET, lastCommander, lastAction, + result); + if (result != HasReturnvaluesIF::RETURN_OK) { + resetHelper(); + } } void SimpleActionHelper::finish(ReturnValue_t result) { - ActionHelper::finish(lastCommander, lastAction, result); - resetHelper(); + ActionHelper::finish(lastCommander, lastAction, result); + resetHelper(); } ReturnValue_t SimpleActionHelper::reportData(SerializeIF* data) { - return ActionHelper::reportData(lastCommander, lastAction, data); + return ActionHelper::reportData(lastCommander, lastAction, data); } void SimpleActionHelper::resetHelper() { - stepCount = 0; - isExecuting = false; - lastAction = 0; - lastCommander = 0; + stepCount = 0; + isExecuting = false; + lastAction = 0; + lastCommander = 0; } void SimpleActionHelper::prepareExecution(MessageQueueId_t commandedBy, - ActionId_t actionId, store_address_t dataAddress) { - CommandMessage reply; - if (isExecuting) { - ipcStore->deleteData(dataAddress); - ActionMessage::setStepReply(&reply, actionId, 0, - HasActionsIF::IS_BUSY); - queueToUse->sendMessage(commandedBy, &reply); - } - const uint8_t* dataPtr = NULL; - size_t size = 0; - ReturnValue_t result = ipcStore->getData(dataAddress, &dataPtr, &size); - if (result != HasReturnvaluesIF::RETURN_OK) { - ActionMessage::setStepReply(&reply, actionId, 0, result); - queueToUse->sendMessage(commandedBy, &reply); - return; - } - lastCommander = commandedBy; - lastAction = actionId; - result = owner->executeAction(actionId, commandedBy, dataPtr, size); - ipcStore->deleteData(dataAddress); - switch (result) { - case HasReturnvaluesIF::RETURN_OK: - isExecuting = true; - stepCount++; - break; - case HasActionsIF::EXECUTION_FINISHED: - ActionMessage::setCompletionReply(&reply, actionId, - HasReturnvaluesIF::RETURN_OK); - queueToUse->sendMessage(commandedBy, &reply); - break; - default: - ActionMessage::setStepReply(&reply, actionId, 0, result); - queueToUse->sendMessage(commandedBy, &reply); - break; - } + ActionId_t actionId, store_address_t dataAddress) { + CommandMessage reply; + if (isExecuting) { + ipcStore->deleteData(dataAddress); + ActionMessage::setStepReply(&reply, actionId, 0, + HasActionsIF::IS_BUSY); + queueToUse->sendMessage(commandedBy, &reply); + } + const uint8_t* dataPtr = NULL; + size_t size = 0; + ReturnValue_t result = ipcStore->getData(dataAddress, &dataPtr, &size); + if (result != HasReturnvaluesIF::RETURN_OK) { + ActionMessage::setStepReply(&reply, actionId, 0, result); + queueToUse->sendMessage(commandedBy, &reply); + return; + } + lastCommander = commandedBy; + lastAction = actionId; + result = owner->executeAction(actionId, commandedBy, dataPtr, size); + ipcStore->deleteData(dataAddress); + switch (result) { + case HasReturnvaluesIF::RETURN_OK: + isExecuting = true; + stepCount++; + break; + case HasActionsIF::EXECUTION_FINISHED: + ActionMessage::setCompletionReply(&reply, actionId, + HasReturnvaluesIF::RETURN_OK); + queueToUse->sendMessage(commandedBy, &reply); + break; + default: + ActionMessage::setStepReply(&reply, actionId, 0, result); + queueToUse->sendMessage(commandedBy, &reply); + break; + } } diff --git a/action/SimpleActionHelper.h b/action/SimpleActionHelper.h index 1f35d9fdf..7c6c4e00e 100644 --- a/action/SimpleActionHelper.h +++ b/action/SimpleActionHelper.h @@ -4,27 +4,27 @@ #include "ActionHelper.h" /** - * @brief This is an action helper which is only able to service one action - * at a time but remembers last commander and last action which - * simplifies usage + * @brief This is an action helper which is only able to service one action + * at a time but remembers last commander and last action which + * simplifies usage */ class SimpleActionHelper: public ActionHelper { public: - SimpleActionHelper(HasActionsIF* setOwner, MessageQueueIF* useThisQueue); - virtual ~SimpleActionHelper(); - void step(ReturnValue_t result = HasReturnvaluesIF::RETURN_OK); - void finish(ReturnValue_t result = HasReturnvaluesIF::RETURN_OK); - ReturnValue_t reportData(SerializeIF* data); + SimpleActionHelper(HasActionsIF* setOwner, MessageQueueIF* useThisQueue); + virtual ~SimpleActionHelper(); + void step(ReturnValue_t result = HasReturnvaluesIF::RETURN_OK); + void finish(ReturnValue_t result = HasReturnvaluesIF::RETURN_OK); + ReturnValue_t reportData(SerializeIF* data); protected: - void prepareExecution(MessageQueueId_t commandedBy, ActionId_t actionId, - store_address_t dataAddress); - virtual void resetHelper(); + void prepareExecution(MessageQueueId_t commandedBy, ActionId_t actionId, + store_address_t dataAddress); + virtual void resetHelper(); private: - bool isExecuting; - MessageQueueId_t lastCommander = MessageQueueIF::NO_QUEUE; - ActionId_t lastAction = 0; - uint8_t stepCount = 0; + bool isExecuting; + MessageQueueId_t lastCommander = MessageQueueIF::NO_QUEUE; + ActionId_t lastAction = 0; + uint8_t stepCount = 0; }; #endif /* SIMPLEACTIONHELPER_H_ */ diff --git a/container/ArrayList.h b/container/ArrayList.h index 6bd5c1d5a..25e281a27 100644 --- a/container/ArrayList.h +++ b/container/ArrayList.h @@ -6,7 +6,7 @@ #include "../serialize/SerializeIF.h" /** - * @brief A List that stores its values in an array. + * @brief A List that stores its values in an array. * @details * The underlying storage is an array that can be allocated by the class * itself or supplied via ctor. @@ -15,237 +15,237 @@ */ template class ArrayList { - template friend class SerialArrayListAdapter; + template friend class SerialArrayListAdapter; public: - static const uint8_t INTERFACE_ID = CLASS_ID::ARRAY_LIST; - static const ReturnValue_t FULL = MAKE_RETURN_CODE(0x01); + static const uint8_t INTERFACE_ID = CLASS_ID::ARRAY_LIST; + static const ReturnValue_t FULL = MAKE_RETURN_CODE(0x01); - /** - * This is the allocating constructor. - * It allocates an array of the specified size. - * @param maxSize - */ - ArrayList(count_t maxSize) : - size(0), maxSize_(maxSize), allocated(true) { - entries = new T[maxSize]; - } + /** + * This is the allocating constructor. + * It allocates an array of the specified size. + * @param maxSize + */ + ArrayList(count_t maxSize) : + size(0), maxSize_(maxSize), allocated(true) { + entries = new T[maxSize]; + } - /** - * This is the non-allocating constructor - * - * It expects a pointer to an array of a certain size and initializes - * itself to it. - * - * @param storage the array to use as backend - * @param maxSize size of storage - * @param size size of data already present in storage - */ - ArrayList(T *storage, count_t maxSize, count_t size = 0) : - size(size), entries(storage), maxSize_(maxSize), allocated(false) { - } + /** + * This is the non-allocating constructor + * + * It expects a pointer to an array of a certain size and initializes + * itself to it. + * + * @param storage the array to use as backend + * @param maxSize size of storage + * @param size size of data already present in storage + */ + ArrayList(T *storage, count_t maxSize, count_t size = 0) : + size(size), entries(storage), maxSize_(maxSize), allocated(false) { + } - /** - * Copying is forbiden by declaring copy ctor and copy assignment deleted - * It is too ambigous in this case. - * (Allocate a new backend? Use the same? What to do in an modifying call?) - */ - ArrayList(const ArrayList& other) = delete; - const ArrayList& operator=(const ArrayList& other) = delete; + /** + * Copying is forbiden by declaring copy ctor and copy assignment deleted + * It is too ambigous in this case. + * (Allocate a new backend? Use the same? What to do in an modifying call?) + */ + ArrayList(const ArrayList& other) = delete; + const ArrayList& operator=(const ArrayList& other) = delete; - /** - * Number of Elements stored in this List - */ - count_t size; + /** + * Number of Elements stored in this List + */ + count_t size; - /** - * Destructor, if the allocating constructor was used, it deletes the array. - */ - virtual ~ArrayList() { - if (allocated) { - delete[] entries; - } - } + /** + * Destructor, if the allocating constructor was used, it deletes the array. + */ + virtual ~ArrayList() { + if (allocated) { + delete[] entries; + } + } - /** - * An Iterator to go trough an ArrayList - * - * It stores a pointer to an element and increments the - * pointer when incremented itself. - */ - class Iterator { - public: - /** - * Empty ctor, points to NULL - */ - Iterator(): value(0) {} + /** + * An Iterator to go trough an ArrayList + * + * It stores a pointer to an element and increments the + * pointer when incremented itself. + */ + class Iterator { + public: + /** + * Empty ctor, points to NULL + */ + Iterator(): value(0) {} - /** - * Initializes the Iterator to point to an element - * - * @param initialize - */ - Iterator(T *initialize) { - value = initialize; - } + /** + * Initializes the Iterator to point to an element + * + * @param initialize + */ + Iterator(T *initialize) { + value = initialize; + } - /** - * The current element the iterator points to - */ - T *value; + /** + * The current element the iterator points to + */ + T *value; - Iterator& operator++() { - value++; - return *this; - } + Iterator& operator++() { + value++; + return *this; + } - Iterator operator++(int) { - Iterator tmp(*this); - operator++(); - return tmp; - } + Iterator operator++(int) { + Iterator tmp(*this); + operator++(); + return tmp; + } - Iterator& operator--() { - value--; - return *this; - } + Iterator& operator--() { + value--; + return *this; + } - Iterator operator--(int) { - Iterator tmp(*this); - operator--(); - return tmp; - } + Iterator operator--(int) { + Iterator tmp(*this); + operator--(); + return tmp; + } - T& operator*() { - return *value; - } + T& operator*() { + return *value; + } - const T& operator*() const { - return *value; - } + const T& operator*() const { + return *value; + } - T *operator->() { - return value; - } + T *operator->() { + return value; + } - const T *operator->() const { - return value; - } - }; + const T *operator->() const { + return value; + } + }; - friend bool operator==(const ArrayList::Iterator& lhs, - const ArrayList::Iterator& rhs) { - return (lhs.value == rhs.value); - } + friend bool operator==(const ArrayList::Iterator& lhs, + const ArrayList::Iterator& rhs) { + return (lhs.value == rhs.value); + } - friend bool operator!=(const ArrayList::Iterator& lhs, - const ArrayList::Iterator& rhs) { - return not (lhs.value == rhs.value); - } + friend bool operator!=(const ArrayList::Iterator& lhs, + const ArrayList::Iterator& rhs) { + return not (lhs.value == rhs.value); + } - /** - * Iterator pointing to the first stored elmement - * - * @return Iterator to the first element - */ - Iterator begin() const { - return Iterator(&entries[0]); - } + /** + * Iterator pointing to the first stored elmement + * + * @return Iterator to the first element + */ + Iterator begin() const { + return Iterator(&entries[0]); + } - /** - * returns an Iterator pointing to the element after the last stored entry - * - * @return Iterator to the element after the last entry - */ - Iterator end() const { - return Iterator(&entries[size]); - } + /** + * returns an Iterator pointing to the element after the last stored entry + * + * @return Iterator to the element after the last entry + */ + Iterator end() const { + return Iterator(&entries[size]); + } - T & operator[](count_t i) const { - return entries[i]; - } + T & operator[](count_t i) const { + return entries[i]; + } - /** - * The first element - * - * @return pointer to the first stored element - */ - T *front() { - return entries; - } + /** + * The first element + * + * @return pointer to the first stored element + */ + T *front() { + return entries; + } - /** - * The last element - * - * does not return a valid pointer if called on an empty list. - * - * @return pointer to the last stored element - */ - T *back() { - return &entries[size - 1]; - //Alternative solution - //return const_cast(static_cast(*this).back()); - } + /** + * The last element + * + * does not return a valid pointer if called on an empty list. + * + * @return pointer to the last stored element + */ + T *back() { + return &entries[size - 1]; + //Alternative solution + //return const_cast(static_cast(*this).back()); + } - const T* back() const{ - return &entries[size-1]; - } + const T* back() const{ + return &entries[size-1]; + } - /** - * The maximum number of elements this List can contain - * - * @return maximum number of elements - */ - size_t maxSize() const { - return this->maxSize_; - } + /** + * The maximum number of elements this List can contain + * + * @return maximum number of elements + */ + size_t maxSize() const { + return this->maxSize_; + } - /** - * Insert a new element into the list. - * - * The new element is inserted after the last stored element. - * - * @param entry - * @return - * -@c FULL if the List is full - * -@c RETURN_OK else - */ - ReturnValue_t insert(T entry) { - if (size >= maxSize_) { - return FULL; - } - entries[size] = entry; - ++size; - return HasReturnvaluesIF::RETURN_OK; - } + /** + * Insert a new element into the list. + * + * The new element is inserted after the last stored element. + * + * @param entry + * @return + * -@c FULL if the List is full + * -@c RETURN_OK else + */ + ReturnValue_t insert(T entry) { + if (size >= maxSize_) { + return FULL; + } + entries[size] = entry; + ++size; + return HasReturnvaluesIF::RETURN_OK; + } - /** - * clear the List - * - * This does not actually clear all entries, it only sets the size to 0. - */ - void clear() { - size = 0; - } + /** + * clear the List + * + * This does not actually clear all entries, it only sets the size to 0. + */ + void clear() { + size = 0; + } - count_t remaining() { - return (maxSize_ - size); - } + count_t remaining() { + return (maxSize_ - size); + } protected: - /** - * pointer to the array in which the entries are stored - */ - T *entries; - /** - * remembering the maximum size - */ - size_t maxSize_; + /** + * pointer to the array in which the entries are stored + */ + T *entries; + /** + * remembering the maximum size + */ + size_t maxSize_; - /** - * true if the array was allocated and needs to be deleted in the destructor. - */ - bool allocated; + /** + * true if the array was allocated and needs to be deleted in the destructor. + */ + bool allocated; }; diff --git a/container/BinaryTree.h b/container/BinaryTree.h index 73073dea3..6200cbb1f 100644 --- a/container/BinaryTree.h +++ b/container/BinaryTree.h @@ -7,65 +7,65 @@ template class BinaryNode { public: - BinaryNode(Tp* setValue) : - value(setValue), left(NULL), right(NULL), parent(NULL) { - } - Tp *value; - BinaryNode* left; - BinaryNode* right; - BinaryNode* parent; + BinaryNode(Tp* setValue) : + value(setValue), left(NULL), right(NULL), parent(NULL) { + } + Tp *value; + BinaryNode* left; + BinaryNode* right; + BinaryNode* parent; }; template class ExplicitNodeIterator { public: - typedef ExplicitNodeIterator _Self; - typedef BinaryNode _Node; - typedef Tp value_type; - typedef Tp* pointer; - typedef Tp& reference; - ExplicitNodeIterator() : - element(NULL) { - } - ExplicitNodeIterator(_Node* node) : - element(node) { - } - BinaryNode* element; - _Self up() { - return _Self(element->parent); - } - _Self left() { - if (element != NULL) { - return _Self(element->left); - } else { - return _Self(NULL); - } + typedef ExplicitNodeIterator _Self; + typedef BinaryNode _Node; + typedef Tp value_type; + typedef Tp* pointer; + typedef Tp& reference; + ExplicitNodeIterator() : + element(NULL) { + } + ExplicitNodeIterator(_Node* node) : + element(node) { + } + BinaryNode* element; + _Self up() { + return _Self(element->parent); + } + _Self left() { + if (element != NULL) { + return _Self(element->left); + } else { + return _Self(NULL); + } - } - _Self right() { - if (element != NULL) { - return _Self(element->right); - } else { - return _Self(NULL); - } + } + _Self right() { + if (element != NULL) { + return _Self(element->right); + } else { + return _Self(NULL); + } - } - bool operator==(const _Self& __x) const { - return element == __x.element; - } - bool operator!=(const _Self& __x) const { - return element != __x.element; - } + } + bool operator==(const _Self& __x) const { + return element == __x.element; + } + bool operator!=(const _Self& __x) const { + return element != __x.element; + } pointer operator->() const { - if (element != NULL) { - return element->value; - } else { - return NULL; - } + if (element != NULL) { + return element->value; + } else { + return NULL; + } } pointer operator*() const { - return this->operator->(); + return this->operator->(); } }; @@ -75,77 +75,77 @@ public: template class BinaryTree { public: - typedef ExplicitNodeIterator iterator; - typedef BinaryNode Node; - typedef std::pair children; - BinaryTree() : - rootNode(NULL) { - } - BinaryTree(Node* rootNode) : - rootNode(rootNode) { - } - iterator begin() const { - return iterator(rootNode); - } - static iterator end() { - return iterator(NULL); - } - iterator insert(bool insertLeft, iterator parentNode, Node* newNode ) { - newNode->parent = parentNode.element; - if (parentNode.element != NULL) { - if (insertLeft) { - parentNode.element->left = newNode; - } else { - parentNode.element->right = newNode; - } - } else { - //Insert first element. - rootNode = newNode; - } - return iterator(newNode); - } - //No recursion to children. Needs to be done externally. - children erase(iterator node) { - if (node.element == rootNode) { - //We're root node - rootNode = NULL; - } else { - //Delete parent's reference - if (node.up().left() == node) { - node.up().element->left = NULL; - } else { - node.up().element->right = NULL; - } - } - return children(node.element->left, node.element->right); - } - static uint32_t countLeft(iterator start) { - if (start == end()) { - return 0; - } - //We also count the start node itself. - uint32_t count = 1; - while (start.left() != end()) { - count++; - start = start.left(); - } - return count; - } - static uint32_t countRight(iterator start) { - if (start == end()) { - return 0; - } - //We also count the start node itself. - uint32_t count = 1; - while (start.right() != end()) { - count++; - start = start.right(); - } - return count; - } + typedef ExplicitNodeIterator iterator; + typedef BinaryNode Node; + typedef std::pair children; + BinaryTree() : + rootNode(NULL) { + } + BinaryTree(Node* rootNode) : + rootNode(rootNode) { + } + iterator begin() const { + return iterator(rootNode); + } + static iterator end() { + return iterator(NULL); + } + iterator insert(bool insertLeft, iterator parentNode, Node* newNode ) { + newNode->parent = parentNode.element; + if (parentNode.element != NULL) { + if (insertLeft) { + parentNode.element->left = newNode; + } else { + parentNode.element->right = newNode; + } + } else { + //Insert first element. + rootNode = newNode; + } + return iterator(newNode); + } + //No recursion to children. Needs to be done externally. + children erase(iterator node) { + if (node.element == rootNode) { + //We're root node + rootNode = NULL; + } else { + //Delete parent's reference + if (node.up().left() == node) { + node.up().element->left = NULL; + } else { + node.up().element->right = NULL; + } + } + return children(node.element->left, node.element->right); + } + static uint32_t countLeft(iterator start) { + if (start == end()) { + return 0; + } + //We also count the start node itself. + uint32_t count = 1; + while (start.left() != end()) { + count++; + start = start.left(); + } + return count; + } + static uint32_t countRight(iterator start) { + if (start == end()) { + return 0; + } + //We also count the start node itself. + uint32_t count = 1; + while (start.right() != end()) { + count++; + start = start.right(); + } + return count; + } protected: - Node* rootNode; + Node* rootNode; }; diff --git a/container/DynamicFIFO.h b/container/DynamicFIFO.h index 86d43f7d7..e1bc3ef2f 100644 --- a/container/DynamicFIFO.h +++ b/container/DynamicFIFO.h @@ -5,8 +5,8 @@ #include /** - * @brief Simple First-In-First-Out data structure. The maximum size - * can be set in the constructor. + * @brief Simple First-In-First-Out data structure. The maximum size + * can be set in the constructor. * @details * The maximum capacity can be determined at run-time, so this container * performs dynamic memory allocation! @@ -17,39 +17,39 @@ template class DynamicFIFO: public FIFOBase { public: - DynamicFIFO(size_t maxCapacity): FIFOBase(nullptr, maxCapacity), - fifoVector(maxCapacity) { - // trying to pass the pointer of the uninitialized vector - // to the FIFOBase constructor directly lead to a super evil bug. - // So we do it like this now. - this->setContainer(fifoVector.data()); - }; + DynamicFIFO(size_t maxCapacity): FIFOBase(nullptr, maxCapacity), + fifoVector(maxCapacity) { + // trying to pass the pointer of the uninitialized vector + // to the FIFOBase constructor directly lead to a super evil bug. + // So we do it like this now. + this->setContainer(fifoVector.data()); + }; - /** - * @brief Custom copy constructor which prevents setting the - * underlying pointer wrong. This function allocates memory! - * @details This is a very heavy operation so try to avoid this! - * - */ - DynamicFIFO(const DynamicFIFO& other): FIFOBase(other), - fifoVector(other.maxCapacity) { - this->fifoVector = other.fifoVector; - this->setContainer(fifoVector.data()); - } + /** + * @brief Custom copy constructor which prevents setting the + * underlying pointer wrong. This function allocates memory! + * @details This is a very heavy operation so try to avoid this! + * + */ + DynamicFIFO(const DynamicFIFO& other): FIFOBase(other), + fifoVector(other.maxCapacity) { + this->fifoVector = other.fifoVector; + this->setContainer(fifoVector.data()); + } - /** - * @brief Custom assignment operator - * @details This is a very heavy operation so try to avoid this! - * @param other DyamicFIFO to copy from - */ - DynamicFIFO& operator=(const DynamicFIFO& other){ - FIFOBase::operator=(other); - this->fifoVector = other.fifoVector; - this->setContainer(fifoVector.data()); - return *this; - } + /** + * @brief Custom assignment operator + * @details This is a very heavy operation so try to avoid this! + * @param other DyamicFIFO to copy from + */ + DynamicFIFO& operator=(const DynamicFIFO& other){ + FIFOBase::operator=(other); + this->fifoVector = other.fifoVector; + this->setContainer(fifoVector.data()); + return *this; + } private: - std::vector fifoVector; + std::vector fifoVector; }; #endif /* FSFW_CONTAINER_DYNAMICFIFO_H_ */ diff --git a/container/FIFO.h b/container/FIFO.h index 701138520..79ead3139 100644 --- a/container/FIFO.h +++ b/container/FIFO.h @@ -5,8 +5,8 @@ #include /** - * @brief Simple First-In-First-Out data structure with size fixed at - * compile time + * @brief Simple First-In-First-Out data structure with size fixed at + * compile time * @details * Performs no dynamic memory allocation. * The public interface of FIFOBase exposes the user interface for the FIFO. @@ -16,32 +16,32 @@ template class FIFO: public FIFOBase { public: - FIFO(): FIFOBase(nullptr, capacity) { - this->setContainer(fifoArray.data()); - }; + FIFO(): FIFOBase(nullptr, capacity) { + this->setContainer(fifoArray.data()); + }; - /** - * @brief Custom copy constructor to set pointer correctly. - * @param other - */ - FIFO(const FIFO& other): FIFOBase(other) { - this->fifoArray = other.fifoArray; - this->setContainer(fifoArray.data()); - } + /** + * @brief Custom copy constructor to set pointer correctly. + * @param other + */ + FIFO(const FIFO& other): FIFOBase(other) { + this->fifoArray = other.fifoArray; + this->setContainer(fifoArray.data()); + } - /** - * @brief Custom assignment operator - * @param other - */ - FIFO& operator=(const FIFO& other){ - FIFOBase::operator=(other); - this->fifoArray = other.fifoArray; - this->setContainer(fifoArray.data()); - return *this; - } + /** + * @brief Custom assignment operator + * @param other + */ + FIFO& operator=(const FIFO& other){ + FIFOBase::operator=(other); + this->fifoArray = other.fifoArray; + this->setContainer(fifoArray.data()); + return *this; + } private: - std::array fifoArray; + std::array fifoArray; }; #endif /* FSFW_CONTAINER_FIFO_H_ */ diff --git a/container/FIFOBase.h b/container/FIFOBase.h index edd66d37a..eaa80346e 100644 --- a/container/FIFOBase.h +++ b/container/FIFOBase.h @@ -8,70 +8,70 @@ template class FIFOBase { public: - static const uint8_t INTERFACE_ID = CLASS_ID::FIFO_CLASS; - static const ReturnValue_t FULL = MAKE_RETURN_CODE(1); - static const ReturnValue_t EMPTY = MAKE_RETURN_CODE(2); + static const uint8_t INTERFACE_ID = CLASS_ID::FIFO_CLASS; + static const ReturnValue_t FULL = MAKE_RETURN_CODE(1); + static const ReturnValue_t EMPTY = MAKE_RETURN_CODE(2); - /** Default ctor, takes pointer to first entry of underlying container - * and maximum capacity */ - FIFOBase(T* values, const size_t maxCapacity); + /** Default ctor, takes pointer to first entry of underlying container + * and maximum capacity */ + FIFOBase(T* values, const size_t maxCapacity); - /** - * Insert value into FIFO - * @param value - * @return RETURN_OK on success, FULL if full - */ - ReturnValue_t insert(T value); - /** - * Retrieve item from FIFO. This removes the item from the FIFO. - * @param value Must point to a valid T - * @return RETURN_OK on success, EMPTY if empty and FAILED if nullptr check failed - */ - ReturnValue_t retrieve(T *value); - /** - * Retrieve item from FIFO without removing it from FIFO. - * @param value Must point to a valid T - * @return RETURN_OK on success, EMPTY if empty and FAILED if nullptr check failed - */ - ReturnValue_t peek(T * value); - /** - * Remove item from FIFO. - * @return RETURN_OK on success, EMPTY if empty - */ - ReturnValue_t pop(); + /** + * Insert value into FIFO + * @param value + * @return RETURN_OK on success, FULL if full + */ + ReturnValue_t insert(T value); + /** + * Retrieve item from FIFO. This removes the item from the FIFO. + * @param value Must point to a valid T + * @return RETURN_OK on success, EMPTY if empty and FAILED if nullptr check failed + */ + ReturnValue_t retrieve(T *value); + /** + * Retrieve item from FIFO without removing it from FIFO. + * @param value Must point to a valid T + * @return RETURN_OK on success, EMPTY if empty and FAILED if nullptr check failed + */ + ReturnValue_t peek(T * value); + /** + * Remove item from FIFO. + * @return RETURN_OK on success, EMPTY if empty + */ + ReturnValue_t pop(); - /*** - * Check if FIFO is empty - * @return True if empty, False if not - */ - bool empty(); - /*** - * Check if FIFO is Full - * @return True if full, False if not - */ - bool full(); - /*** - * Current used size (elements) used - * @return size_t in elements - */ - size_t size(); - /*** - * Get maximal capacity of fifo - * @return size_t with max capacity of this fifo - */ - size_t getMaxCapacity() const; + /*** + * Check if FIFO is empty + * @return True if empty, False if not + */ + bool empty(); + /*** + * Check if FIFO is Full + * @return True if full, False if not + */ + bool full(); + /*** + * Current used size (elements) used + * @return size_t in elements + */ + size_t size(); + /*** + * Get maximal capacity of fifo + * @return size_t with max capacity of this fifo + */ + size_t getMaxCapacity() const; protected: - void setContainer(T* data); - size_t maxCapacity = 0; + void setContainer(T* data); + size_t maxCapacity = 0; - T* values; + T* values; - size_t readIndex = 0; - size_t writeIndex = 0; - size_t currentSize = 0; + size_t readIndex = 0; + size_t writeIndex = 0; + size_t currentSize = 0; - size_t next(size_t current); + size_t next(size_t current); }; #include "FIFOBase.tpp" diff --git a/container/FIFOBase.tpp b/container/FIFOBase.tpp index 763004b6f..2e6a3829c 100644 --- a/container/FIFOBase.tpp +++ b/container/FIFOBase.tpp @@ -7,87 +7,87 @@ template inline FIFOBase::FIFOBase(T* values, const size_t maxCapacity): - maxCapacity(maxCapacity), values(values){}; + maxCapacity(maxCapacity), values(values){}; template inline ReturnValue_t FIFOBase::insert(T value) { - if (full()) { - return FULL; - } else { - values[writeIndex] = value; - writeIndex = next(writeIndex); - ++currentSize; - return HasReturnvaluesIF::RETURN_OK; - } + if (full()) { + return FULL; + } else { + values[writeIndex] = value; + writeIndex = next(writeIndex); + ++currentSize; + return HasReturnvaluesIF::RETURN_OK; + } }; template inline ReturnValue_t FIFOBase::retrieve(T* value) { - if (empty()) { - return EMPTY; - } else { - if (value == nullptr){ - return HasReturnvaluesIF::RETURN_FAILED; - } - *value = values[readIndex]; - readIndex = next(readIndex); - --currentSize; - return HasReturnvaluesIF::RETURN_OK; - } + if (empty()) { + return EMPTY; + } else { + if (value == nullptr){ + return HasReturnvaluesIF::RETURN_FAILED; + } + *value = values[readIndex]; + readIndex = next(readIndex); + --currentSize; + return HasReturnvaluesIF::RETURN_OK; + } }; template inline ReturnValue_t FIFOBase::peek(T* value) { - if(empty()) { - return EMPTY; - } else { - if (value == nullptr){ - return HasReturnvaluesIF::RETURN_FAILED; - } - *value = values[readIndex]; - return HasReturnvaluesIF::RETURN_OK; - } + if(empty()) { + return EMPTY; + } else { + if (value == nullptr){ + return HasReturnvaluesIF::RETURN_FAILED; + } + *value = values[readIndex]; + return HasReturnvaluesIF::RETURN_OK; + } }; template inline ReturnValue_t FIFOBase::pop() { - T value; - return this->retrieve(&value); + T value; + return this->retrieve(&value); }; template inline bool FIFOBase::empty() { - return (currentSize == 0); + return (currentSize == 0); }; template inline bool FIFOBase::full() { - return (currentSize == maxCapacity); + return (currentSize == maxCapacity); } template inline size_t FIFOBase::size() { - return currentSize; + return currentSize; } template inline size_t FIFOBase::next(size_t current) { - ++current; - if (current == maxCapacity) { - current = 0; - } - return current; + ++current; + if (current == maxCapacity) { + current = 0; + } + return current; } template inline size_t FIFOBase::getMaxCapacity() const { - return maxCapacity; + return maxCapacity; } template inline void FIFOBase::setContainer(T *data) { - this->values = data; + this->values = data; } #endif diff --git a/container/FixedArrayList.h b/container/FixedArrayList.h index e9e127cf0..89b76388a 100644 --- a/container/FixedArrayList.h +++ b/container/FixedArrayList.h @@ -8,30 +8,30 @@ */ template class FixedArrayList: public ArrayList { - static_assert(MAX_SIZE <= (pow(2,sizeof(count_t)*8)-1), "count_t is not large enough to hold MAX_SIZE"); + static_assert(MAX_SIZE <= (pow(2,sizeof(count_t)*8)-1), "count_t is not large enough to hold MAX_SIZE"); private: - T data[MAX_SIZE]; + T data[MAX_SIZE]; public: - FixedArrayList() : - ArrayList(data, MAX_SIZE) { - } + FixedArrayList() : + ArrayList(data, MAX_SIZE) { + } - FixedArrayList(const FixedArrayList& other) : - ArrayList(data, MAX_SIZE) { - memcpy(this->data, other.data, sizeof(this->data)); - this->entries = data; - this->size = other.size; - } + FixedArrayList(const FixedArrayList& other) : + ArrayList(data, MAX_SIZE) { + memcpy(this->data, other.data, sizeof(this->data)); + this->entries = data; + this->size = other.size; + } - FixedArrayList& operator=(FixedArrayList other) { - memcpy(this->data, other.data, sizeof(this->data)); - this->entries = data; - this->size = other.size; - return *this; - } + FixedArrayList& operator=(FixedArrayList other) { + memcpy(this->data, other.data, sizeof(this->data)); + this->entries = data; + this->size = other.size; + return *this; + } - virtual ~FixedArrayList() { - } + virtual ~FixedArrayList() { + } }; diff --git a/container/FixedMap.h b/container/FixedMap.h index 7a5220faa..bd8e0f835 100644 --- a/container/FixedMap.h +++ b/container/FixedMap.h @@ -18,212 +18,212 @@ */ template class FixedMap: public SerializeIF { - static_assert (std::is_trivially_copyable::value or - std::is_base_of::value, - "Types used in FixedMap must either be trivial copy-able or a " - "derived class from SerializeIF to be serialize-able"); + static_assert (std::is_trivially_copyable::value or + std::is_base_of::value, + "Types used in FixedMap must either be trivial copy-able or a " + "derived class from SerializeIF to be serialize-able"); public: - static const uint8_t INTERFACE_ID = CLASS_ID::FIXED_MAP; - static const ReturnValue_t KEY_ALREADY_EXISTS = MAKE_RETURN_CODE(0x01); - static const ReturnValue_t MAP_FULL = MAKE_RETURN_CODE(0x02); - static const ReturnValue_t KEY_DOES_NOT_EXIST = MAKE_RETURN_CODE(0x03); + static const uint8_t INTERFACE_ID = CLASS_ID::FIXED_MAP; + static const ReturnValue_t KEY_ALREADY_EXISTS = MAKE_RETURN_CODE(0x01); + static const ReturnValue_t MAP_FULL = MAKE_RETURN_CODE(0x02); + static const ReturnValue_t KEY_DOES_NOT_EXIST = MAKE_RETURN_CODE(0x03); private: - static const key_t EMPTY_SLOT = -1; - ArrayList, uint32_t> theMap; - uint32_t _size; + static const key_t EMPTY_SLOT = -1; + ArrayList, uint32_t> theMap; + uint32_t _size; - uint32_t findIndex(key_t key) const { - if (_size == 0) { - return 1; - } - uint32_t i = 0; - for (i = 0; i < _size; ++i) { - if (theMap[i].first == key) { - return i; - } - } - return i; - } + uint32_t findIndex(key_t key) const { + if (_size == 0) { + return 1; + } + uint32_t i = 0; + for (i = 0; i < _size; ++i) { + if (theMap[i].first == key) { + return i; + } + } + return i; + } public: - FixedMap(uint32_t maxSize) : - theMap(maxSize), _size(0) { - } + FixedMap(uint32_t maxSize) : + theMap(maxSize), _size(0) { + } - class Iterator: public ArrayList, uint32_t>::Iterator { - public: - Iterator() : - ArrayList, uint32_t>::Iterator() { - } + class Iterator: public ArrayList, uint32_t>::Iterator { + public: + Iterator() : + ArrayList, uint32_t>::Iterator() { + } - Iterator(std::pair *pair) : - ArrayList, uint32_t>::Iterator(pair) { - } - }; + Iterator(std::pair *pair) : + ArrayList, uint32_t>::Iterator(pair) { + } + }; - friend bool operator==(const typename FixedMap::Iterator& lhs, - const typename FixedMap::Iterator& rhs) { - return (lhs.value == rhs.value); - } + friend bool operator==(const typename FixedMap::Iterator& lhs, + const typename FixedMap::Iterator& rhs) { + return (lhs.value == rhs.value); + } - friend bool operator!=(const typename FixedMap::Iterator& lhs, - const typename FixedMap::Iterator& rhs) { - return not (lhs.value == rhs.value); - } + friend bool operator!=(const typename FixedMap::Iterator& lhs, + const typename FixedMap::Iterator& rhs) { + return not (lhs.value == rhs.value); + } - Iterator begin() const { - return Iterator(&theMap[0]); - } + Iterator begin() const { + return Iterator(&theMap[0]); + } - Iterator end() const { - return Iterator(&theMap[_size]); - } + Iterator end() const { + return Iterator(&theMap[_size]); + } - uint32_t size() const { - return _size; - } + uint32_t size() const { + return _size; + } - ReturnValue_t insert(key_t key, T value, Iterator *storedValue = nullptr) { - if (exists(key) == HasReturnvaluesIF::RETURN_OK) { - return KEY_ALREADY_EXISTS; - } - if (_size == theMap.maxSize()) { - return MAP_FULL; - } - theMap[_size].first = key; - theMap[_size].second = value; - if (storedValue != nullptr) { - *storedValue = Iterator(&theMap[_size]); - } - ++_size; - return HasReturnvaluesIF::RETURN_OK; - } + ReturnValue_t insert(key_t key, T value, Iterator *storedValue = nullptr) { + if (exists(key) == HasReturnvaluesIF::RETURN_OK) { + return KEY_ALREADY_EXISTS; + } + if (_size == theMap.maxSize()) { + return MAP_FULL; + } + theMap[_size].first = key; + theMap[_size].second = value; + if (storedValue != nullptr) { + *storedValue = Iterator(&theMap[_size]); + } + ++_size; + return HasReturnvaluesIF::RETURN_OK; + } - ReturnValue_t insert(std::pair pair) { - return insert(pair.first, pair.second); - } + ReturnValue_t insert(std::pair pair) { + return insert(pair.first, pair.second); + } - ReturnValue_t exists(key_t key) const { - ReturnValue_t result = KEY_DOES_NOT_EXIST; - if (findIndex(key) < _size) { - result = HasReturnvaluesIF::RETURN_OK; - } - return result; - } + ReturnValue_t exists(key_t key) const { + ReturnValue_t result = KEY_DOES_NOT_EXIST; + if (findIndex(key) < _size) { + result = HasReturnvaluesIF::RETURN_OK; + } + return result; + } - ReturnValue_t erase(Iterator *iter) { - uint32_t i; - if ((i = findIndex((*iter).value->first)) >= _size) { - return KEY_DOES_NOT_EXIST; - } - theMap[i] = theMap[_size - 1]; - --_size; - --((*iter).value); - return HasReturnvaluesIF::RETURN_OK; - } + ReturnValue_t erase(Iterator *iter) { + uint32_t i; + if ((i = findIndex((*iter).value->first)) >= _size) { + return KEY_DOES_NOT_EXIST; + } + theMap[i] = theMap[_size - 1]; + --_size; + --((*iter).value); + return HasReturnvaluesIF::RETURN_OK; + } - ReturnValue_t erase(key_t key) { - uint32_t i; - if ((i = findIndex(key)) >= _size) { - return KEY_DOES_NOT_EXIST; - } - theMap[i] = theMap[_size - 1]; - --_size; - return HasReturnvaluesIF::RETURN_OK; - } + ReturnValue_t erase(key_t key) { + uint32_t i; + if ((i = findIndex(key)) >= _size) { + return KEY_DOES_NOT_EXIST; + } + theMap[i] = theMap[_size - 1]; + --_size; + return HasReturnvaluesIF::RETURN_OK; + } - T *findValue(key_t key) const { - return &theMap[findIndex(key)].second; - } + T *findValue(key_t key) const { + return &theMap[findIndex(key)].second; + } - Iterator find(key_t key) const { - ReturnValue_t result = exists(key); - if (result != HasReturnvaluesIF::RETURN_OK) { - return end(); - } - return Iterator(&theMap[findIndex(key)]); - } + Iterator find(key_t key) const { + ReturnValue_t result = exists(key); + if (result != HasReturnvaluesIF::RETURN_OK) { + return end(); + } + return Iterator(&theMap[findIndex(key)]); + } - ReturnValue_t find(key_t key, T **value) const { - ReturnValue_t result = exists(key); - if (result != HasReturnvaluesIF::RETURN_OK) { - return result; - } - *value = &theMap[findIndex(key)].second; - return HasReturnvaluesIF::RETURN_OK; - } + ReturnValue_t find(key_t key, T **value) const { + ReturnValue_t result = exists(key); + if (result != HasReturnvaluesIF::RETURN_OK) { + return result; + } + *value = &theMap[findIndex(key)].second; + return HasReturnvaluesIF::RETURN_OK; + } - bool empty() { - if(_size == 0) { - return true; - } - else { - return false; - } - } + bool empty() { + if(_size == 0) { + return true; + } + else { + return false; + } + } - bool full() { - if(_size >= theMap.maxSize()) { - return true; - } - else { - return false; - } - } + bool full() { + if(_size >= theMap.maxSize()) { + return true; + } + else { + return false; + } + } - void clear() { - _size = 0; - } + void clear() { + _size = 0; + } - uint32_t maxSize() const { - return theMap.maxSize(); - } + uint32_t maxSize() const { + return theMap.maxSize(); + } - virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size, - size_t maxSize, Endianness streamEndianness) const { - ReturnValue_t result = SerializeAdapter::serialize(&this->_size, - buffer, size, maxSize, streamEndianness); - uint32_t i = 0; - while ((result == HasReturnvaluesIF::RETURN_OK) && (i < this->_size)) { - result = SerializeAdapter::serialize(&theMap[i].first, buffer, - size, maxSize, streamEndianness); - result = SerializeAdapter::serialize(&theMap[i].second, buffer, size, - maxSize, streamEndianness); - ++i; - } - return result; - } + virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size, + size_t maxSize, Endianness streamEndianness) const { + ReturnValue_t result = SerializeAdapter::serialize(&this->_size, + buffer, size, maxSize, streamEndianness); + uint32_t i = 0; + while ((result == HasReturnvaluesIF::RETURN_OK) && (i < this->_size)) { + result = SerializeAdapter::serialize(&theMap[i].first, buffer, + size, maxSize, streamEndianness); + result = SerializeAdapter::serialize(&theMap[i].second, buffer, size, + maxSize, streamEndianness); + ++i; + } + return result; + } - virtual size_t getSerializedSize() const { - uint32_t printSize = sizeof(_size); - uint32_t i = 0; + virtual size_t getSerializedSize() const { + uint32_t printSize = sizeof(_size); + uint32_t i = 0; - for (i = 0; i < _size; ++i) { - printSize += SerializeAdapter::getSerializedSize( - &theMap[i].first); - printSize += SerializeAdapter::getSerializedSize(&theMap[i].second); - } + for (i = 0; i < _size; ++i) { + printSize += SerializeAdapter::getSerializedSize( + &theMap[i].first); + printSize += SerializeAdapter::getSerializedSize(&theMap[i].second); + } - return printSize; - } + return printSize; + } - virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size, - Endianness streamEndianness) { - ReturnValue_t result = SerializeAdapter::deSerialize(&this->_size, - buffer, size, streamEndianness); - if (this->_size > theMap.maxSize()) { - return SerializeIF::TOO_MANY_ELEMENTS; - } - uint32_t i = 0; - while ((result == HasReturnvaluesIF::RETURN_OK) && (i < this->_size)) { - result = SerializeAdapter::deSerialize(&theMap[i].first, buffer, - size, streamEndianness); - result = SerializeAdapter::deSerialize(&theMap[i].second, buffer, size, - streamEndianness); - ++i; - } - return result; - } + virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size, + Endianness streamEndianness) { + ReturnValue_t result = SerializeAdapter::deSerialize(&this->_size, + buffer, size, streamEndianness); + if (this->_size > theMap.maxSize()) { + return SerializeIF::TOO_MANY_ELEMENTS; + } + uint32_t i = 0; + while ((result == HasReturnvaluesIF::RETURN_OK) && (i < this->_size)) { + result = SerializeAdapter::deSerialize(&theMap[i].first, buffer, + size, streamEndianness); + result = SerializeAdapter::deSerialize(&theMap[i].second, buffer, size, + streamEndianness); + ++i; + } + return result; + } }; diff --git a/container/FixedOrderedMultimap.h b/container/FixedOrderedMultimap.h index acf2368af..cb8abdcaf 100644 --- a/container/FixedOrderedMultimap.h +++ b/container/FixedOrderedMultimap.h @@ -34,172 +34,172 @@ template> class FixedOrderedMultimap { public: - static const uint8_t INTERFACE_ID = CLASS_ID::FIXED_MULTIMAP; - static const ReturnValue_t MAP_FULL = MAKE_RETURN_CODE(0x01); - static const ReturnValue_t KEY_DOES_NOT_EXIST = MAKE_RETURN_CODE(0x02); + static const uint8_t INTERFACE_ID = CLASS_ID::FIXED_MULTIMAP; + static const ReturnValue_t MAP_FULL = MAKE_RETURN_CODE(0x01); + static const ReturnValue_t KEY_DOES_NOT_EXIST = MAKE_RETURN_CODE(0x02); - /*** - * Constructor which needs a size_t for the maximum allowed size - * - * Can not be resized during runtime - * - * Allocates memory at construction - * @param maxSize size_t of Maximum allowed size - */ + /*** + * Constructor which needs a size_t for the maximum allowed size + * + * Can not be resized during runtime + * + * Allocates memory at construction + * @param maxSize size_t of Maximum allowed size + */ FixedOrderedMultimap(size_t maxSize):theMap(maxSize), _size(0){ } - /*** - * Virtual destructor frees Memory by deleting its member - */ - virtual ~FixedOrderedMultimap() { - } + /*** + * Virtual destructor frees Memory by deleting its member + */ + virtual ~FixedOrderedMultimap() { + } - /*** - * Special iterator for FixedOrderedMultimap - */ - class Iterator: public ArrayList, size_t>::Iterator { - public: - Iterator() : - ArrayList, size_t>::Iterator() { - } + /*** + * Special iterator for FixedOrderedMultimap + */ + class Iterator: public ArrayList, size_t>::Iterator { + public: + Iterator() : + ArrayList, size_t>::Iterator() { + } - Iterator(std::pair *pair) : - ArrayList, size_t>::Iterator(pair) { - } - }; + Iterator(std::pair *pair) : + ArrayList, size_t>::Iterator(pair) { + } + }; - /*** - * Returns an iterator pointing to the first element - * @return Iterator pointing to first element - */ - Iterator begin() const { - return Iterator(&theMap[0]); - } + /*** + * Returns an iterator pointing to the first element + * @return Iterator pointing to first element + */ + Iterator begin() const { + return Iterator(&theMap[0]); + } - /** - * Returns an iterator pointing to one element past the end - * @return Iterator pointing to one element past the end - */ - Iterator end() const { - return Iterator(&theMap[_size]); - } + /** + * Returns an iterator pointing to one element past the end + * @return Iterator pointing to one element past the end + */ + Iterator end() const { + return Iterator(&theMap[_size]); + } - /*** - * Returns the current size of the map (not maximum size!) - * @return Current size - */ - size_t size() const{ - return _size; - } + /*** + * Returns the current size of the map (not maximum size!) + * @return Current size + */ + size_t size() const{ + return _size; + } - /** - * Clears the map, does not deallocate any memory - */ - void clear(){ - _size = 0; - } + /** + * Clears the map, does not deallocate any memory + */ + void clear(){ + _size = 0; + } - /** - * Returns the maximum size of the map - * @return Maximum size of the map - */ - size_t maxSize() const{ - return theMap.maxSize(); - } + /** + * Returns the maximum size of the map + * @return Maximum size of the map + */ + size_t maxSize() const{ + return theMap.maxSize(); + } - /*** - * Used to insert a key and value separately. - * - * @param[in] key Key of the new element - * @param[in] value Value of the new element - * @param[in/out] (optional) storedValue On success this points to the new value, otherwise a nullptr - * @return RETURN_OK if insert was successful, MAP_FULL if no space is available - */ - ReturnValue_t insert(key_t key, T value, Iterator *storedValue = nullptr); + /*** + * Used to insert a key and value separately. + * + * @param[in] key Key of the new element + * @param[in] value Value of the new element + * @param[in/out] (optional) storedValue On success this points to the new value, otherwise a nullptr + * @return RETURN_OK if insert was successful, MAP_FULL if no space is available + */ + ReturnValue_t insert(key_t key, T value, Iterator *storedValue = nullptr); - /*** - * Used to insert new pair instead of single values - * - * @param pair Pair to be inserted - * @return RETURN_OK if insert was successful, MAP_FULL if no space is available - */ - ReturnValue_t insert(std::pair pair); + /*** + * Used to insert new pair instead of single values + * + * @param pair Pair to be inserted + * @return RETURN_OK if insert was successful, MAP_FULL if no space is available + */ + ReturnValue_t insert(std::pair pair); - /*** - * Can be used to check if a certain key is in the map - * @param key Key to be checked - * @return RETURN_OK if the key exists KEY_DOES_NOT_EXIST otherwise - */ - ReturnValue_t exists(key_t key) const; + /*** + * Can be used to check if a certain key is in the map + * @param key Key to be checked + * @return RETURN_OK if the key exists KEY_DOES_NOT_EXIST otherwise + */ + ReturnValue_t exists(key_t key) const; - /*** - * Used to delete the element in the iterator - * - * The iterator will point to the element before or begin(), - * but never to one element in front of the map. - * - * @warning The iterator needs to be valid and dereferenceable - * @param[in/out] iter Pointer to iterator to the element that needs to be ereased - * @return RETURN_OK if erased, KEY_DOES_NOT_EXIST if the there is no element like this - */ - ReturnValue_t erase(Iterator *iter); + /*** + * Used to delete the element in the iterator + * + * The iterator will point to the element before or begin(), + * but never to one element in front of the map. + * + * @warning The iterator needs to be valid and dereferenceable + * @param[in/out] iter Pointer to iterator to the element that needs to be ereased + * @return RETURN_OK if erased, KEY_DOES_NOT_EXIST if the there is no element like this + */ + ReturnValue_t erase(Iterator *iter); - /*** - * Used to erase by key - * @param key Key to be erased - * @return RETURN_OK if erased, KEY_DOES_NOT_EXIST if the there is no element like this - */ - ReturnValue_t erase(key_t key); + /*** + * Used to erase by key + * @param key Key to be erased + * @return RETURN_OK if erased, KEY_DOES_NOT_EXIST if the there is no element like this + */ + ReturnValue_t erase(key_t key); - /*** - * Find returns the first appearance of the key - * - * If the key does not exist, it points to end() - * - * @param key Key to search for - * @return Iterator pointing to the first entry of key - */ - Iterator find(key_t key) const{ - ReturnValue_t result = exists(key); - if (result != HasReturnvaluesIF::RETURN_OK) { - return end(); - } - return Iterator(&theMap[findFirstIndex(key)]); - }; + /*** + * Find returns the first appearance of the key + * + * If the key does not exist, it points to end() + * + * @param key Key to search for + * @return Iterator pointing to the first entry of key + */ + Iterator find(key_t key) const{ + ReturnValue_t result = exists(key); + if (result != HasReturnvaluesIF::RETURN_OK) { + return end(); + } + return Iterator(&theMap[findFirstIndex(key)]); + }; - /*** - * Finds first entry of the given key and returns a - * pointer to the value - * - * @param key Key to search for - * @param value Found value - * @return RETURN_OK if it points to the value, - * KEY_DOES_NOT_EXIST if the key is not in the map - */ - ReturnValue_t find(key_t key, T **value) const; + /*** + * Finds first entry of the given key and returns a + * pointer to the value + * + * @param key Key to search for + * @param value Found value + * @return RETURN_OK if it points to the value, + * KEY_DOES_NOT_EXIST if the key is not in the map + */ + ReturnValue_t find(key_t key, T **value) const; - friend bool operator==(const typename FixedOrderedMultimap::Iterator& lhs, - const typename FixedOrderedMultimap::Iterator& rhs) { - return (lhs.value == rhs.value); - } + friend bool operator==(const typename FixedOrderedMultimap::Iterator& lhs, + const typename FixedOrderedMultimap::Iterator& rhs) { + return (lhs.value == rhs.value); + } - friend bool operator!=(const typename FixedOrderedMultimap::Iterator& lhs, - const typename FixedOrderedMultimap::Iterator& rhs) { - return not (lhs.value == rhs.value); - } + friend bool operator!=(const typename FixedOrderedMultimap::Iterator& lhs, + const typename FixedOrderedMultimap::Iterator& rhs) { + return not (lhs.value == rhs.value); + } private: - typedef KEY_COMPARE compare; - compare myComp; - ArrayList, size_t> theMap; - size_t _size; + typedef KEY_COMPARE compare; + compare myComp; + ArrayList, size_t> theMap; + size_t _size; - size_t findFirstIndex(key_t key, size_t startAt = 0) const; + size_t findFirstIndex(key_t key, size_t startAt = 0) const; - size_t findNicePlace(key_t key) const; + size_t findNicePlace(key_t key) const; - void removeFromPosition(size_t position); + void removeFromPosition(size_t position); }; #include "FixedOrderedMultimap.tpp" diff --git a/container/FixedOrderedMultimap.tpp b/container/FixedOrderedMultimap.tpp index 4aa85e974..294a161fe 100644 --- a/container/FixedOrderedMultimap.tpp +++ b/container/FixedOrderedMultimap.tpp @@ -4,105 +4,105 @@ template inline ReturnValue_t FixedOrderedMultimap::insert(key_t key, T value, Iterator *storedValue) { - if (_size == theMap.maxSize()) { - return MAP_FULL; - } - size_t position = findNicePlace(key); - memmove(static_cast(&theMap[position + 1]),static_cast(&theMap[position]), - (_size - position) * sizeof(std::pair)); - theMap[position].first = key; - theMap[position].second = value; - ++_size; - if (storedValue != nullptr) { - *storedValue = Iterator(&theMap[position]); - } - return HasReturnvaluesIF::RETURN_OK; + if (_size == theMap.maxSize()) { + return MAP_FULL; + } + size_t position = findNicePlace(key); + memmove(static_cast(&theMap[position + 1]),static_cast(&theMap[position]), + (_size - position) * sizeof(std::pair)); + theMap[position].first = key; + theMap[position].second = value; + ++_size; + if (storedValue != nullptr) { + *storedValue = Iterator(&theMap[position]); + } + return HasReturnvaluesIF::RETURN_OK; } template inline ReturnValue_t FixedOrderedMultimap::insert(std::pair pair) { - return insert(pair.first, pair.second); + return insert(pair.first, pair.second); } template inline ReturnValue_t FixedOrderedMultimap::exists(key_t key) const { - ReturnValue_t result = KEY_DOES_NOT_EXIST; - if (findFirstIndex(key) < _size) { - result = HasReturnvaluesIF::RETURN_OK; - } - return result; + ReturnValue_t result = KEY_DOES_NOT_EXIST; + if (findFirstIndex(key) < _size) { + result = HasReturnvaluesIF::RETURN_OK; + } + return result; } template inline ReturnValue_t FixedOrderedMultimap::erase(Iterator *iter) { - size_t i; - if ((i = findFirstIndex((*iter).value->first)) >= _size) { - return KEY_DOES_NOT_EXIST; - } - removeFromPosition(i); - if (*iter != begin()) { - (*iter)--; - } else { - *iter = begin(); - } - return HasReturnvaluesIF::RETURN_OK; + size_t i; + if ((i = findFirstIndex((*iter).value->first)) >= _size) { + return KEY_DOES_NOT_EXIST; + } + removeFromPosition(i); + if (*iter != begin()) { + (*iter)--; + } else { + *iter = begin(); + } + return HasReturnvaluesIF::RETURN_OK; } template inline ReturnValue_t FixedOrderedMultimap::erase(key_t key) { - size_t i; - if ((i = findFirstIndex(key)) >= _size) { - return KEY_DOES_NOT_EXIST; - } - do { - removeFromPosition(i); - i = findFirstIndex(key, i); - } while (i < _size); - return HasReturnvaluesIF::RETURN_OK; + size_t i; + if ((i = findFirstIndex(key)) >= _size) { + return KEY_DOES_NOT_EXIST; + } + do { + removeFromPosition(i); + i = findFirstIndex(key, i); + } while (i < _size); + return HasReturnvaluesIF::RETURN_OK; } template inline ReturnValue_t FixedOrderedMultimap::find(key_t key, T **value) const { - ReturnValue_t result = exists(key); - if (result != HasReturnvaluesIF::RETURN_OK) { - return result; - } - *value = &theMap[findFirstIndex(key)].second; - return HasReturnvaluesIF::RETURN_OK; + ReturnValue_t result = exists(key); + if (result != HasReturnvaluesIF::RETURN_OK) { + return result; + } + *value = &theMap[findFirstIndex(key)].second; + return HasReturnvaluesIF::RETURN_OK; } template inline size_t FixedOrderedMultimap::findFirstIndex(key_t key, size_t startAt) const { - if (startAt >= _size) { - return startAt + 1; - } - size_t i = startAt; - for (i = startAt; i < _size; ++i) { - if (theMap[i].first == key) { - return i; - } - } - return i; + if (startAt >= _size) { + return startAt + 1; + } + size_t i = startAt; + for (i = startAt; i < _size; ++i) { + if (theMap[i].first == key) { + return i; + } + } + return i; } template inline size_t FixedOrderedMultimap::findNicePlace(key_t key) const { - size_t i = 0; - for (i = 0; i < _size; ++i) { - if (myComp(key, theMap[i].first)) { - return i; - } - } - return i; + size_t i = 0; + for (i = 0; i < _size; ++i) { + if (myComp(key, theMap[i].first)) { + return i; + } + } + return i; } template inline void FixedOrderedMultimap::removeFromPosition(size_t position) { - if (_size <= position) { - return; - } - memmove(static_cast(&theMap[position]), static_cast(&theMap[position + 1]), - (_size - position - 1) * sizeof(std::pair)); - --_size; + if (_size <= position) { + return; + } + memmove(static_cast(&theMap[position]), static_cast(&theMap[position + 1]), + (_size - position - 1) * sizeof(std::pair)); + --_size; } diff --git a/container/HybridIterator.h b/container/HybridIterator.h index 8d020cb93..6e33e4611 100644 --- a/container/HybridIterator.h +++ b/container/HybridIterator.h @@ -6,85 +6,85 @@ template class HybridIterator: public LinkedElement::Iterator, - public ArrayList::Iterator { + public ArrayList::Iterator { public: - HybridIterator() {} + HybridIterator() {} - HybridIterator(typename LinkedElement::Iterator *iter) : - LinkedElement::Iterator(*iter), value(iter->value), - linked(true) { + HybridIterator(typename LinkedElement::Iterator *iter) : + LinkedElement::Iterator(*iter), value(iter->value), + linked(true) { - } + } - HybridIterator(LinkedElement *start) : - LinkedElement::Iterator(start), value(start->value), - linked(true) { + HybridIterator(LinkedElement *start) : + LinkedElement::Iterator(start), value(start->value), + linked(true) { - } + } - HybridIterator(typename ArrayList::Iterator start, - typename ArrayList::Iterator end) : - ArrayList::Iterator(start), value(start.value), - linked(false), end(end.value) { - if (value == this->end) { - value = NULL; - } - } + HybridIterator(typename ArrayList::Iterator start, + typename ArrayList::Iterator end) : + ArrayList::Iterator(start), value(start.value), + linked(false), end(end.value) { + if (value == this->end) { + value = NULL; + } + } - HybridIterator(T *firstElement, T *lastElement) : - ArrayList::Iterator(firstElement), value(firstElement), - linked(false), end(++lastElement) { - if (value == end) { - value = NULL; - } - } + HybridIterator(T *firstElement, T *lastElement) : + ArrayList::Iterator(firstElement), value(firstElement), + linked(false), end(++lastElement) { + if (value == end) { + value = NULL; + } + } - HybridIterator& operator++() { - if (linked) { - LinkedElement::Iterator::operator++(); - if (LinkedElement::Iterator::value != nullptr) { - value = LinkedElement::Iterator::value->value; - } else { - value = nullptr; - } - } else { - ArrayList::Iterator::operator++(); - value = ArrayList::Iterator::value; + HybridIterator& operator++() { + if (linked) { + LinkedElement::Iterator::operator++(); + if (LinkedElement::Iterator::value != nullptr) { + value = LinkedElement::Iterator::value->value; + } else { + value = nullptr; + } + } else { + ArrayList::Iterator::operator++(); + value = ArrayList::Iterator::value; - if (value == end) { - value = nullptr; - } - } - return *this; - } + if (value == end) { + value = nullptr; + } + } + return *this; + } - HybridIterator operator++(int) { - HybridIterator tmp(*this); - operator++(); - return tmp; - } + HybridIterator operator++(int) { + HybridIterator tmp(*this); + operator++(); + return tmp; + } - bool operator==(const HybridIterator& other) const { - return value == other.value; - } + bool operator==(const HybridIterator& other) const { + return value == other.value; + } - bool operator!=(const HybridIterator& other) const { - return !(*this == other); - } + bool operator!=(const HybridIterator& other) const { + return !(*this == other); + } - T operator*() { - return *value; - } + T operator*() { + return *value; + } - T *operator->() { - return value; - } + T *operator->() { + return value; + } - T* value = nullptr; + T* value = nullptr; private: - bool linked = false; - T *end = nullptr; + bool linked = false; + T *end = nullptr; }; #endif /* FRAMEWORK_CONTAINER_HYBRIDITERATOR_H_ */ diff --git a/container/IndexedRingMemoryArray.h b/container/IndexedRingMemoryArray.h index 0d85b49bc..df8980f7e 100644 --- a/container/IndexedRingMemoryArray.h +++ b/container/IndexedRingMemoryArray.h @@ -10,687 +10,687 @@ template class Index: public SerializeIF{ - /** - * Index is the Type used for the list of indices. The template parameter is the type which describes the index, it needs to be a child of SerializeIF to be able to make it persistent - */ - static_assert(std::is_base_of::value,"Wrong Type for Index, Type must implement SerializeIF"); + /** + * Index is the Type used for the list of indices. The template parameter is the type which describes the index, it needs to be a child of SerializeIF to be able to make it persistent + */ + static_assert(std::is_base_of::value,"Wrong Type for Index, Type must implement SerializeIF"); public: - Index():blockStartAddress(0),size(0),storedPackets(0){} + Index():blockStartAddress(0),size(0),storedPackets(0){} - Index(uint32_t startAddress):blockStartAddress(startAddress),size(0),storedPackets(0){ + Index(uint32_t startAddress):blockStartAddress(startAddress),size(0),storedPackets(0){ - } + } - void setBlockStartAddress(uint32_t newAddress){ - this->blockStartAddress = newAddress; - } + void setBlockStartAddress(uint32_t newAddress){ + this->blockStartAddress = newAddress; + } - uint32_t getBlockStartAddress() const { - return blockStartAddress; - } + uint32_t getBlockStartAddress() const { + return blockStartAddress; + } - const T* getIndexType() const { - return &indexType; - } + const T* getIndexType() const { + return &indexType; + } - T* modifyIndexType(){ - return &indexType; - } - /** - * Updates the index Type. Uses = operator - * @param indexType Type to copy from - */ - void setIndexType(T* indexType) { - this->indexType = *indexType; - } + T* modifyIndexType(){ + return &indexType; + } + /** + * Updates the index Type. Uses = operator + * @param indexType Type to copy from + */ + void setIndexType(T* indexType) { + this->indexType = *indexType; + } - uint32_t getSize() const { - return size; - } + uint32_t getSize() const { + return size; + } - void setSize(uint32_t size) { - this->size = size; - } + void setSize(uint32_t size) { + this->size = size; + } - void addSize(uint32_t size){ - this->size += size; - } + void addSize(uint32_t size){ + this->size += size; + } - void setStoredPackets(uint32_t newStoredPackets){ - this->storedPackets = newStoredPackets; - } + void setStoredPackets(uint32_t newStoredPackets){ + this->storedPackets = newStoredPackets; + } - void addStoredPackets(uint32_t packets){ - this->storedPackets += packets; - } + void addStoredPackets(uint32_t packets){ + this->storedPackets += packets; + } - uint32_t getStoredPackets() const{ - return this->storedPackets; - } + uint32_t getStoredPackets() const{ + return this->storedPackets; + } - ReturnValue_t serialize(uint8_t** buffer, size_t* size, - size_t maxSize, Endianness streamEndianness) const { - ReturnValue_t result = SerializeAdapter::serialize(&blockStartAddress,buffer,size,maxSize,streamEndianness); - if(result != HasReturnvaluesIF::RETURN_OK){ - return result; - } - result = indexType.serialize(buffer,size,maxSize,streamEndianness); - if(result != HasReturnvaluesIF::RETURN_OK){ - return result; - } - result = SerializeAdapter::serialize(&this->size,buffer,size,maxSize,streamEndianness); - if(result != HasReturnvaluesIF::RETURN_OK){ - return result; - } - result = SerializeAdapter::serialize(&this->storedPackets,buffer,size,maxSize,streamEndianness); - return result; - } + ReturnValue_t serialize(uint8_t** buffer, size_t* size, + size_t maxSize, Endianness streamEndianness) const { + ReturnValue_t result = SerializeAdapter::serialize(&blockStartAddress,buffer,size,maxSize,streamEndianness); + if(result != HasReturnvaluesIF::RETURN_OK){ + return result; + } + result = indexType.serialize(buffer,size,maxSize,streamEndianness); + if(result != HasReturnvaluesIF::RETURN_OK){ + return result; + } + result = SerializeAdapter::serialize(&this->size,buffer,size,maxSize,streamEndianness); + if(result != HasReturnvaluesIF::RETURN_OK){ + return result; + } + result = SerializeAdapter::serialize(&this->storedPackets,buffer,size,maxSize,streamEndianness); + return result; + } - ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size, - Endianness streamEndianness){ - ReturnValue_t result = SerializeAdapter::deSerialize(&blockStartAddress,buffer,size,streamEndianness); - if(result != HasReturnvaluesIF::RETURN_OK){ - return result; - } - result = indexType.deSerialize(buffer,size,streamEndianness); - if(result != HasReturnvaluesIF::RETURN_OK){ - return result; - } - result = SerializeAdapter::deSerialize(&this->size,buffer,size,streamEndianness); - if(result != HasReturnvaluesIF::RETURN_OK){ - return result; - } - result = SerializeAdapter::deSerialize(&this->storedPackets,buffer,size,streamEndianness); - if(result != HasReturnvaluesIF::RETURN_OK){ - return result; - } - return result; - } + ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size, + Endianness streamEndianness){ + ReturnValue_t result = SerializeAdapter::deSerialize(&blockStartAddress,buffer,size,streamEndianness); + if(result != HasReturnvaluesIF::RETURN_OK){ + return result; + } + result = indexType.deSerialize(buffer,size,streamEndianness); + if(result != HasReturnvaluesIF::RETURN_OK){ + return result; + } + result = SerializeAdapter::deSerialize(&this->size,buffer,size,streamEndianness); + if(result != HasReturnvaluesIF::RETURN_OK){ + return result; + } + result = SerializeAdapter::deSerialize(&this->storedPackets,buffer,size,streamEndianness); + if(result != HasReturnvaluesIF::RETURN_OK){ + return result; + } + return result; + } - size_t getSerializedSize() const { - uint32_t size = SerializeAdapter::getSerializedSize(&blockStartAddress); - size += indexType.getSerializedSize(); - size += SerializeAdapter::getSerializedSize(&this->size); - size += SerializeAdapter::getSerializedSize(&this->storedPackets); - return size; - } + size_t getSerializedSize() const { + uint32_t size = SerializeAdapter::getSerializedSize(&blockStartAddress); + size += indexType.getSerializedSize(); + size += SerializeAdapter::getSerializedSize(&this->size); + size += SerializeAdapter::getSerializedSize(&this->storedPackets); + return size; + } - bool operator==(const Index& other){ - return ((blockStartAddress == other.getBlockStartAddress()) && (size==other.getSize())) && (indexType == *(other.getIndexType())); - } + bool operator==(const Index& other){ + return ((blockStartAddress == other.getBlockStartAddress()) && (size==other.getSize())) && (indexType == *(other.getIndexType())); + } private: - uint32_t blockStartAddress; - uint32_t size; - uint32_t storedPackets; - T indexType; + uint32_t blockStartAddress; + uint32_t size; + uint32_t storedPackets; + T indexType; }; template class IndexedRingMemoryArray: public SerializeIF, public ArrayList, uint32_t>{ - /** - * Indexed Ring Memory Array is a class for a ring memory with indices. It assumes that the newest data comes in last - * It uses the currentWriteBlock as pointer to the current writing position - * The currentReadBlock must be set manually - */ + /** + * Indexed Ring Memory Array is a class for a ring memory with indices. It assumes that the newest data comes in last + * It uses the currentWriteBlock as pointer to the current writing position + * The currentReadBlock must be set manually + */ public: - IndexedRingMemoryArray(uint32_t startAddress, uint32_t size, uint32_t bytesPerBlock, SerializeIF* additionalInfo, - bool overwriteOld) :ArrayList,uint32_t>(NULL,(uint32_t)10,(uint32_t)0),totalSize(size),indexAddress(startAddress),currentReadSize(0),currentReadBlockSizeCached(0),lastBlockToReadSize(0), additionalInfo(additionalInfo),overwriteOld(overwriteOld){ + IndexedRingMemoryArray(uint32_t startAddress, uint32_t size, uint32_t bytesPerBlock, SerializeIF* additionalInfo, + bool overwriteOld) :ArrayList,uint32_t>(NULL,(uint32_t)10,(uint32_t)0),totalSize(size),indexAddress(startAddress),currentReadSize(0),currentReadBlockSizeCached(0),lastBlockToReadSize(0), additionalInfo(additionalInfo),overwriteOld(overwriteOld){ - //Calculate the maximum number of indices needed for this blocksize - uint32_t maxNrOfIndices = floor(static_cast(size)/static_cast(bytesPerBlock)); + //Calculate the maximum number of indices needed for this blocksize + uint32_t maxNrOfIndices = floor(static_cast(size)/static_cast(bytesPerBlock)); - //Calculate the Size needeed for the index itself - uint32_t serializedSize = 0; - if(additionalInfo!=NULL){ - serializedSize += additionalInfo->getSerializedSize(); - } - //Size of current iterator type - Index tempIndex; - serializedSize += tempIndex.getSerializedSize(); + //Calculate the Size needeed for the index itself + uint32_t serializedSize = 0; + if(additionalInfo!=NULL){ + serializedSize += additionalInfo->getSerializedSize(); + } + //Size of current iterator type + Index tempIndex; + serializedSize += tempIndex.getSerializedSize(); - //Add Size of Array - serializedSize += sizeof(uint32_t); //size of array - serializedSize += (tempIndex.getSerializedSize() * maxNrOfIndices); //size of elements - serializedSize += sizeof(uint16_t); //size of crc + //Add Size of Array + serializedSize += sizeof(uint32_t); //size of array + serializedSize += (tempIndex.getSerializedSize() * maxNrOfIndices); //size of elements + serializedSize += sizeof(uint16_t); //size of crc - //Calculate new size after index - if(serializedSize > totalSize){ - error << "IndexedRingMemory: Store is too small for index" << std::endl; - } - uint32_t useableSize = totalSize - serializedSize; - //Update the totalSize for calculations - totalSize = useableSize; + //Calculate new size after index + if(serializedSize > totalSize){ + error << "IndexedRingMemory: Store is too small for index" << std::endl; + } + uint32_t useableSize = totalSize - serializedSize; + //Update the totalSize for calculations + totalSize = useableSize; - //True StartAddress - uint32_t trueStartAddress = indexAddress + serializedSize; + //True StartAddress + uint32_t trueStartAddress = indexAddress + serializedSize; - //Calculate True number of Blocks and reset size of true Number of Blocks - uint32_t trueNumberOfBlocks = floor(static_cast(totalSize) / static_cast(bytesPerBlock)); + //Calculate True number of Blocks and reset size of true Number of Blocks + uint32_t trueNumberOfBlocks = floor(static_cast(totalSize) / static_cast(bytesPerBlock)); - //allocate memory now - this->entries = new Index[trueNumberOfBlocks]; - this->size = trueNumberOfBlocks; - this->maxSize_ = trueNumberOfBlocks; - this->allocated = true; + //allocate memory now + this->entries = new Index[trueNumberOfBlocks]; + this->size = trueNumberOfBlocks; + this->maxSize_ = trueNumberOfBlocks; + this->allocated = true; - //Check trueNumberOfBlocks - if(trueNumberOfBlocks<1){ - error << "IndexedRingMemory: Invalid Number of Blocks: " << trueNumberOfBlocks; - } + //Check trueNumberOfBlocks + if(trueNumberOfBlocks<1){ + error << "IndexedRingMemory: Invalid Number of Blocks: " << trueNumberOfBlocks; + } - //Fill address into index - uint32_t address = trueStartAddress; - for (typename IndexedRingMemoryArray::Iterator it = this->begin();it!=this->end();++it) { - it->setBlockStartAddress(address); - it->setSize(0); - it->setStoredPackets(0); - address += bytesPerBlock; - } + //Fill address into index + uint32_t address = trueStartAddress; + for (typename IndexedRingMemoryArray::Iterator it = this->begin();it!=this->end();++it) { + it->setBlockStartAddress(address); + it->setSize(0); + it->setStoredPackets(0); + address += bytesPerBlock; + } - //Initialize iterators - currentWriteBlock = this->begin(); - currentReadBlock = this->begin(); - lastBlockToRead = this->begin(); + //Initialize iterators + currentWriteBlock = this->begin(); + currentReadBlock = this->begin(); + lastBlockToRead = this->begin(); - //Check last blockSize - uint32_t lastBlockSize = (trueStartAddress + useableSize) - (this->back()->getBlockStartAddress()); - if((lastBlockSizesize > 1)){ - //remove the last Block so the second last block has more size - this->size -= 1; - debug << "IndexedRingMemory: Last Block is smaller than bytesPerBlock, removed last block" << std::endl; - } - } + //Check last blockSize + uint32_t lastBlockSize = (trueStartAddress + useableSize) - (this->back()->getBlockStartAddress()); + if((lastBlockSizesize > 1)){ + //remove the last Block so the second last block has more size + this->size -= 1; + debug << "IndexedRingMemory: Last Block is smaller than bytesPerBlock, removed last block" << std::endl; + } + } - /** - * Resets the whole index, the iterators and executes the given reset function on every index type - * @param typeResetFnc static reset function which accepts a pointer to the index Type - */ - void reset(void (*typeResetFnc)(T*)){ - currentReadBlock = this->begin(); - currentWriteBlock = this->begin(); - lastBlockToRead = this->begin(); - currentReadSize = 0; - currentReadBlockSizeCached = 0; - lastBlockToReadSize = 0; - for(typename IndexedRingMemoryArray::Iterator it = this->begin();it!=this->end();++it){ - it->setSize(0); - it->setStoredPackets(0); - (*typeResetFnc)(it->modifyIndexType()); - } - } + /** + * Resets the whole index, the iterators and executes the given reset function on every index type + * @param typeResetFnc static reset function which accepts a pointer to the index Type + */ + void reset(void (*typeResetFnc)(T*)){ + currentReadBlock = this->begin(); + currentWriteBlock = this->begin(); + lastBlockToRead = this->begin(); + currentReadSize = 0; + currentReadBlockSizeCached = 0; + lastBlockToReadSize = 0; + for(typename IndexedRingMemoryArray::Iterator it = this->begin();it!=this->end();++it){ + it->setSize(0); + it->setStoredPackets(0); + (*typeResetFnc)(it->modifyIndexType()); + } + } - void resetBlock(typename IndexedRingMemoryArray::Iterator it,void (*typeResetFnc)(T*)){ - it->setSize(0); - it->setStoredPackets(0); - (*typeResetFnc)(it->modifyIndexType()); - } + void resetBlock(typename IndexedRingMemoryArray::Iterator it,void (*typeResetFnc)(T*)){ + it->setSize(0); + it->setStoredPackets(0); + (*typeResetFnc)(it->modifyIndexType()); + } - /* - * Reading - */ + /* + * Reading + */ - void setCurrentReadBlock(typename IndexedRingMemoryArray::Iterator it){ - currentReadBlock = it; - currentReadBlockSizeCached = it->getSize(); - } + void setCurrentReadBlock(typename IndexedRingMemoryArray::Iterator it){ + currentReadBlock = it; + currentReadBlockSizeCached = it->getSize(); + } - void resetRead(){ - currentReadBlock = this->begin(); - currentReadSize = 0; - currentReadBlockSizeCached = this->begin()->getSize(); - lastBlockToRead = currentWriteBlock; - lastBlockToReadSize = currentWriteBlock->getSize(); - } - /** - * Sets the last block to read to this iterator. - * Can be used to dump until block x - * @param it The iterator for the last read block - */ - void setLastBlockToRead(typename IndexedRingMemoryArray::Iterator it){ - lastBlockToRead = it; - lastBlockToReadSize = it->getSize(); - } + void resetRead(){ + currentReadBlock = this->begin(); + currentReadSize = 0; + currentReadBlockSizeCached = this->begin()->getSize(); + lastBlockToRead = currentWriteBlock; + lastBlockToReadSize = currentWriteBlock->getSize(); + } + /** + * Sets the last block to read to this iterator. + * Can be used to dump until block x + * @param it The iterator for the last read block + */ + void setLastBlockToRead(typename IndexedRingMemoryArray::Iterator it){ + lastBlockToRead = it; + lastBlockToReadSize = it->getSize(); + } - /** - * Set the read pointer to the first written Block, which is the first non empty block in front of the write block - * Can be the currentWriteBlock as well - */ - void readOldest(){ - resetRead(); - currentReadBlock = getNextNonEmptyBlock(); - currentReadBlockSizeCached = currentReadBlock->getSize(); + /** + * Set the read pointer to the first written Block, which is the first non empty block in front of the write block + * Can be the currentWriteBlock as well + */ + void readOldest(){ + resetRead(); + currentReadBlock = getNextNonEmptyBlock(); + currentReadBlockSizeCached = currentReadBlock->getSize(); - } + } - /** - * Sets the current read iterator to the next Block and resets the current read size - * The current size of the block will be cached to avoid race condition between write and read - * If the end of the ring is reached the read pointer will be set to the begin - */ - void readNext(){ - currentReadSize = 0; - if((this->size != 0) && (currentReadBlock.value ==this->back())){ - currentReadBlock = this->begin(); - }else{ - currentReadBlock++; - } + /** + * Sets the current read iterator to the next Block and resets the current read size + * The current size of the block will be cached to avoid race condition between write and read + * If the end of the ring is reached the read pointer will be set to the begin + */ + void readNext(){ + currentReadSize = 0; + if((this->size != 0) && (currentReadBlock.value ==this->back())){ + currentReadBlock = this->begin(); + }else{ + currentReadBlock++; + } - currentReadBlockSizeCached = currentReadBlock->getSize(); - } + currentReadBlockSizeCached = currentReadBlock->getSize(); + } - /** - * Returns the address which is currently read from - * @return Address to read from - */ - uint32_t getCurrentReadAddress() const { - return getAddressOfCurrentReadBlock() + currentReadSize; - } - /** - * Adds readSize to the current size and checks if the read has no more data left and advances the read block - * @param readSize The size that was read - * @return Returns true if the read can go on - */ - bool addReadSize(uint32_t readSize) { - if(currentReadBlock == lastBlockToRead){ - //The current read block is the last to read - if((currentReadSize+readSize) return true - currentReadSize += readSize; - return true; - }else{ - //Reached end of read -> return false - currentReadSize = lastBlockToReadSize; - return false; - } - }else{ - //We are not in the last Block - if((currentReadSize + readSize)::Iterator it(currentReadBlock); - //Search if any block between this and the last block is not empty - for(;it!=lastBlockToRead;++it){ - if(it == this->end()){ - //This is the end, next block is the begin - it = this->begin(); - if(it == lastBlockToRead){ - //Break if the begin is the lastBlockToRead - break; - } - } - if(it->getSize()!=0){ - //This is a non empty block. Go on reading with this block - currentReadBlock = it; - currentReadBlockSizeCached = it->getSize(); - return true; - } - } - //reached lastBlockToRead and every block was empty, check if the last block is also empty - if(lastBlockToReadSize!=0){ - //go on with last Block - currentReadBlock = lastBlockToRead; - currentReadBlockSizeCached = lastBlockToReadSize; - return true; - } - //There is no non empty block left - return false; - } - //Size is larger than 0 - return true; - } - } - } - uint32_t getRemainigSizeOfCurrentReadBlock() const{ - if(currentReadBlock == lastBlockToRead){ - return (lastBlockToReadSize - currentReadSize); - }else{ - return (currentReadBlockSizeCached - currentReadSize); - } - } + /** + * Returns the address which is currently read from + * @return Address to read from + */ + uint32_t getCurrentReadAddress() const { + return getAddressOfCurrentReadBlock() + currentReadSize; + } + /** + * Adds readSize to the current size and checks if the read has no more data left and advances the read block + * @param readSize The size that was read + * @return Returns true if the read can go on + */ + bool addReadSize(uint32_t readSize) { + if(currentReadBlock == lastBlockToRead){ + //The current read block is the last to read + if((currentReadSize+readSize) return true + currentReadSize += readSize; + return true; + }else{ + //Reached end of read -> return false + currentReadSize = lastBlockToReadSize; + return false; + } + }else{ + //We are not in the last Block + if((currentReadSize + readSize)::Iterator it(currentReadBlock); + //Search if any block between this and the last block is not empty + for(;it!=lastBlockToRead;++it){ + if(it == this->end()){ + //This is the end, next block is the begin + it = this->begin(); + if(it == lastBlockToRead){ + //Break if the begin is the lastBlockToRead + break; + } + } + if(it->getSize()!=0){ + //This is a non empty block. Go on reading with this block + currentReadBlock = it; + currentReadBlockSizeCached = it->getSize(); + return true; + } + } + //reached lastBlockToRead and every block was empty, check if the last block is also empty + if(lastBlockToReadSize!=0){ + //go on with last Block + currentReadBlock = lastBlockToRead; + currentReadBlockSizeCached = lastBlockToReadSize; + return true; + } + //There is no non empty block left + return false; + } + //Size is larger than 0 + return true; + } + } + } + uint32_t getRemainigSizeOfCurrentReadBlock() const{ + if(currentReadBlock == lastBlockToRead){ + return (lastBlockToReadSize - currentReadSize); + }else{ + return (currentReadBlockSizeCached - currentReadSize); + } + } - uint32_t getAddressOfCurrentReadBlock() const { - return currentReadBlock->getBlockStartAddress(); - } + uint32_t getAddressOfCurrentReadBlock() const { + return currentReadBlock->getBlockStartAddress(); + } - /** - * Gets the next non empty Block after the current write block, - * @return Returns the iterator to the block. If there is non, the current write block is returned - */ - typename IndexedRingMemoryArray::Iterator getNextNonEmptyBlock() const { - for(typename IndexedRingMemoryArray::Iterator it = getNextWrite();it!=currentWriteBlock;++it){ - if(it == this->end()){ - it = this->begin(); - if(it == currentWriteBlock){ - break; - } - } - if(it->getSize()!=0){ - return it; - } - } - return currentWriteBlock; - } + /** + * Gets the next non empty Block after the current write block, + * @return Returns the iterator to the block. If there is non, the current write block is returned + */ + typename IndexedRingMemoryArray::Iterator getNextNonEmptyBlock() const { + for(typename IndexedRingMemoryArray::Iterator it = getNextWrite();it!=currentWriteBlock;++it){ + if(it == this->end()){ + it = this->begin(); + if(it == currentWriteBlock){ + break; + } + } + if(it->getSize()!=0){ + return it; + } + } + return currentWriteBlock; + } - /** - * Returns a copy of the oldest Index type - * @return Type of Index - */ - T* getOldest(){ - return (getNextNonEmptyBlock()->modifyIndexType()); - } + /** + * Returns a copy of the oldest Index type + * @return Type of Index + */ + T* getOldest(){ + return (getNextNonEmptyBlock()->modifyIndexType()); + } - /* - * Writing - */ - uint32_t getAddressOfCurrentWriteBlock() const{ - return currentWriteBlock->getBlockStartAddress(); - } + /* + * Writing + */ + uint32_t getAddressOfCurrentWriteBlock() const{ + return currentWriteBlock->getBlockStartAddress(); + } - uint32_t getSizeOfCurrentWriteBlock() const{ - return currentWriteBlock->getSize(); - } + uint32_t getSizeOfCurrentWriteBlock() const{ + return currentWriteBlock->getSize(); + } - uint32_t getCurrentWriteAddress() const{ - return getAddressOfCurrentWriteBlock() + getSizeOfCurrentWriteBlock(); - } + uint32_t getCurrentWriteAddress() const{ + return getAddressOfCurrentWriteBlock() + getSizeOfCurrentWriteBlock(); + } - void clearCurrentWriteBlock(){ - currentWriteBlock->setSize(0); - currentWriteBlock->setStoredPackets(0); - } + void clearCurrentWriteBlock(){ + currentWriteBlock->setSize(0); + currentWriteBlock->setStoredPackets(0); + } - void addCurrentWriteBlock(uint32_t size, uint32_t storedPackets){ - currentWriteBlock->addSize(size); - currentWriteBlock->addStoredPackets(storedPackets); - } + void addCurrentWriteBlock(uint32_t size, uint32_t storedPackets){ + currentWriteBlock->addSize(size); + currentWriteBlock->addStoredPackets(storedPackets); + } - T* modifyCurrentWriteBlockIndexType(){ - return currentWriteBlock->modifyIndexType(); - } - void updatePreviousWriteSize(uint32_t size, uint32_t storedPackets){ - typename IndexedRingMemoryArray::Iterator it = getPreviousBlock(currentWriteBlock); - it->addSize(size); - it->addStoredPackets(storedPackets); - } + T* modifyCurrentWriteBlockIndexType(){ + return currentWriteBlock->modifyIndexType(); + } + void updatePreviousWriteSize(uint32_t size, uint32_t storedPackets){ + typename IndexedRingMemoryArray::Iterator it = getPreviousBlock(currentWriteBlock); + it->addSize(size); + it->addStoredPackets(storedPackets); + } - /** - * Checks if the block has enough space for sizeToWrite - * @param sizeToWrite The data to be written in the Block - * @return Returns true if size to write is smaller the remaining size of the block - */ - bool hasCurrentWriteBlockEnoughSpace(uint32_t sizeToWrite){ - typename IndexedRingMemoryArray::Iterator next = getNextWrite(); - uint32_t addressOfNextBlock = next->getBlockStartAddress(); - uint32_t availableSize = ((addressOfNextBlock+totalSize) - (getAddressOfCurrentWriteBlock()+getSizeOfCurrentWriteBlock()))%totalSize; - return (sizeToWrite < availableSize); - } + /** + * Checks if the block has enough space for sizeToWrite + * @param sizeToWrite The data to be written in the Block + * @return Returns true if size to write is smaller the remaining size of the block + */ + bool hasCurrentWriteBlockEnoughSpace(uint32_t sizeToWrite){ + typename IndexedRingMemoryArray::Iterator next = getNextWrite(); + uint32_t addressOfNextBlock = next->getBlockStartAddress(); + uint32_t availableSize = ((addressOfNextBlock+totalSize) - (getAddressOfCurrentWriteBlock()+getSizeOfCurrentWriteBlock()))%totalSize; + return (sizeToWrite < availableSize); + } - /** - * Checks if the store is full if overwrite old is false - * @return Returns true if it is writeable and false if not - */ - bool isNextBlockWritable(){ - //First check if this is the end of the list - typename IndexedRingMemoryArray::Iterator next; - next = getNextWrite(); - if((next->getSize()!=0) && (!overwriteOld)){ - return false; - } - return true; - } + /** + * Checks if the store is full if overwrite old is false + * @return Returns true if it is writeable and false if not + */ + bool isNextBlockWritable(){ + //First check if this is the end of the list + typename IndexedRingMemoryArray::Iterator next; + next = getNextWrite(); + if((next->getSize()!=0) && (!overwriteOld)){ + return false; + } + return true; + } - /** - * Updates current write Block Index Type - * @param infoOfNewBlock - */ - void updateCurrentBlock(T* infoOfNewBlock){ - currentWriteBlock->setIndexType(infoOfNewBlock); - } + /** + * Updates current write Block Index Type + * @param infoOfNewBlock + */ + void updateCurrentBlock(T* infoOfNewBlock){ + currentWriteBlock->setIndexType(infoOfNewBlock); + } - /** - * Succeed to next block, returns FAILED if overwrite is false and the store is full - * @return - */ - ReturnValue_t writeNext(){ - //Check Next Block - if(!isNextBlockWritable()){ - //The Index is full and does not overwrite old - return HasReturnvaluesIF::RETURN_FAILED; - } - //Next block can be written, update Metadata - currentWriteBlock = getNextWrite(); - currentWriteBlock->setSize(0); - currentWriteBlock->setStoredPackets(0); - return HasReturnvaluesIF::RETURN_OK; - } + /** + * Succeed to next block, returns FAILED if overwrite is false and the store is full + * @return + */ + ReturnValue_t writeNext(){ + //Check Next Block + if(!isNextBlockWritable()){ + //The Index is full and does not overwrite old + return HasReturnvaluesIF::RETURN_FAILED; + } + //Next block can be written, update Metadata + currentWriteBlock = getNextWrite(); + currentWriteBlock->setSize(0); + currentWriteBlock->setStoredPackets(0); + return HasReturnvaluesIF::RETURN_OK; + } - /** - * Serializes the Index and calculates the CRC. - * Parameters according to HasSerializeIF - * @param buffer - * @param size - * @param maxSize - * @param streamEndianness - * @return - */ - ReturnValue_t serialize(uint8_t** buffer, size_t* size, - size_t maxSize, Endianness streamEndianness) const{ - uint8_t* crcBuffer = *buffer; - uint32_t oldSize = *size; - if(additionalInfo!=NULL){ - additionalInfo->serialize(buffer,size,maxSize,streamEndianness); - } - ReturnValue_t result = currentWriteBlock->serialize(buffer,size,maxSize,streamEndianness); - if(result != HasReturnvaluesIF::RETURN_OK){ - return result; - } - result = SerializeAdapter::serialize(&this->size,buffer,size,maxSize,streamEndianness); - if(result != HasReturnvaluesIF::RETURN_OK){ - return result; - } + /** + * Serializes the Index and calculates the CRC. + * Parameters according to HasSerializeIF + * @param buffer + * @param size + * @param maxSize + * @param streamEndianness + * @return + */ + ReturnValue_t serialize(uint8_t** buffer, size_t* size, + size_t maxSize, Endianness streamEndianness) const{ + uint8_t* crcBuffer = *buffer; + uint32_t oldSize = *size; + if(additionalInfo!=NULL){ + additionalInfo->serialize(buffer,size,maxSize,streamEndianness); + } + ReturnValue_t result = currentWriteBlock->serialize(buffer,size,maxSize,streamEndianness); + if(result != HasReturnvaluesIF::RETURN_OK){ + return result; + } + result = SerializeAdapter::serialize(&this->size,buffer,size,maxSize,streamEndianness); + if(result != HasReturnvaluesIF::RETURN_OK){ + return result; + } - uint32_t i = 0; - while ((result == HasReturnvaluesIF::RETURN_OK) && (i < this->size)) { - result = SerializeAdapter::serialize(&this->entries[i], buffer, size, - maxSize, streamEndianness); - ++i; - } - if(result != HasReturnvaluesIF::RETURN_OK){ - return result; - } - uint16_t crc = Calculate_CRC(crcBuffer,(*size-oldSize)); - result = SerializeAdapter::serialize(&crc,buffer,size,maxSize,streamEndianness); - return result; - } + uint32_t i = 0; + while ((result == HasReturnvaluesIF::RETURN_OK) && (i < this->size)) { + result = SerializeAdapter::serialize(&this->entries[i], buffer, size, + maxSize, streamEndianness); + ++i; + } + if(result != HasReturnvaluesIF::RETURN_OK){ + return result; + } + uint16_t crc = Calculate_CRC(crcBuffer,(*size-oldSize)); + result = SerializeAdapter::serialize(&crc,buffer,size,maxSize,streamEndianness); + return result; + } - /** - * Get the serialized Size of the index - * @return The serialized size of the index - */ - size_t getSerializedSize() const { + /** + * Get the serialized Size of the index + * @return The serialized size of the index + */ + size_t getSerializedSize() const { - uint32_t size = 0; - if(additionalInfo!=NULL){ - size += additionalInfo->getSerializedSize(); - } - size += currentWriteBlock->getSerializedSize(); - size += SerializeAdapter::getSerializedSize(&this->size); - size += (this->entries[0].getSerializedSize()) * this->size; - uint16_t crc = 0; - size += SerializeAdapter::getSerializedSize(&crc); - return size; - } - /** - * DeSerialize the Indexed Ring from a buffer, deSerializes the current write iterator - * CRC Has to be checked before! - * @param buffer - * @param size - * @param streamEndianness - * @return - */ + uint32_t size = 0; + if(additionalInfo!=NULL){ + size += additionalInfo->getSerializedSize(); + } + size += currentWriteBlock->getSerializedSize(); + size += SerializeAdapter::getSerializedSize(&this->size); + size += (this->entries[0].getSerializedSize()) * this->size; + uint16_t crc = 0; + size += SerializeAdapter::getSerializedSize(&crc); + return size; + } + /** + * DeSerialize the Indexed Ring from a buffer, deSerializes the current write iterator + * CRC Has to be checked before! + * @param buffer + * @param size + * @param streamEndianness + * @return + */ - ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size, - Endianness streamEndianness){ + ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size, + Endianness streamEndianness){ - ReturnValue_t result = HasReturnvaluesIF::RETURN_OK; - if(additionalInfo!=NULL){ - result = additionalInfo->deSerialize(buffer,size,streamEndianness); - } - if(result != HasReturnvaluesIF::RETURN_OK){ - return result; - } + ReturnValue_t result = HasReturnvaluesIF::RETURN_OK; + if(additionalInfo!=NULL){ + result = additionalInfo->deSerialize(buffer,size,streamEndianness); + } + if(result != HasReturnvaluesIF::RETURN_OK){ + return result; + } - Index tempIndex; - result = tempIndex.deSerialize(buffer,size,streamEndianness); - if(result != HasReturnvaluesIF::RETURN_OK){ - return result; - } - uint32_t tempSize = 0; - result = SerializeAdapter::deSerialize(&tempSize,buffer,size,streamEndianness); - if(result != HasReturnvaluesIF::RETURN_OK){ - return result; - } - if(this->size != tempSize){ - return HasReturnvaluesIF::RETURN_FAILED; - } - uint32_t i = 0; - while ((result == HasReturnvaluesIF::RETURN_OK) && (i < this->size)) { - result = SerializeAdapter::deSerialize( - &this->entries[i], buffer, size, - streamEndianness); - ++i; - } - if(result != HasReturnvaluesIF::RETURN_OK){ - return result; - } - typename IndexedRingMemoryArray::Iterator cmp(&tempIndex); - for(typename IndexedRingMemoryArray::Iterator it= this->begin();it!=this->end();++it){ - if(*(cmp.value) == *(it.value)){ - currentWriteBlock = it; - return HasReturnvaluesIF::RETURN_OK; - } - } - //Reached if current write block iterator is not found - return HasReturnvaluesIF::RETURN_FAILED; - } + Index tempIndex; + result = tempIndex.deSerialize(buffer,size,streamEndianness); + if(result != HasReturnvaluesIF::RETURN_OK){ + return result; + } + uint32_t tempSize = 0; + result = SerializeAdapter::deSerialize(&tempSize,buffer,size,streamEndianness); + if(result != HasReturnvaluesIF::RETURN_OK){ + return result; + } + if(this->size != tempSize){ + return HasReturnvaluesIF::RETURN_FAILED; + } + uint32_t i = 0; + while ((result == HasReturnvaluesIF::RETURN_OK) && (i < this->size)) { + result = SerializeAdapter::deSerialize( + &this->entries[i], buffer, size, + streamEndianness); + ++i; + } + if(result != HasReturnvaluesIF::RETURN_OK){ + return result; + } + typename IndexedRingMemoryArray::Iterator cmp(&tempIndex); + for(typename IndexedRingMemoryArray::Iterator it= this->begin();it!=this->end();++it){ + if(*(cmp.value) == *(it.value)){ + currentWriteBlock = it; + return HasReturnvaluesIF::RETURN_OK; + } + } + //Reached if current write block iterator is not found + return HasReturnvaluesIF::RETURN_FAILED; + } - uint32_t getIndexAddress() const { - return indexAddress; - } + uint32_t getIndexAddress() const { + return indexAddress; + } - /* - * Statistics - */ - uint32_t getStoredPackets() const { - uint32_t size = 0; - for(typename IndexedRingMemoryArray::Iterator it= this->begin();it!=this->end();++it){ - size += it->getStoredPackets(); - } - return size; - } + /* + * Statistics + */ + uint32_t getStoredPackets() const { + uint32_t size = 0; + for(typename IndexedRingMemoryArray::Iterator it= this->begin();it!=this->end();++it){ + size += it->getStoredPackets(); + } + return size; + } - uint32_t getTotalSize() const { - return totalSize; - } + uint32_t getTotalSize() const { + return totalSize; + } - uint32_t getCurrentSize() const{ - uint32_t size = 0; - for(typename IndexedRingMemoryArray::Iterator it= this->begin();it!=this->end();++it){ - size += it->getSize(); - } - return size; - } + uint32_t getCurrentSize() const{ + uint32_t size = 0; + for(typename IndexedRingMemoryArray::Iterator it= this->begin();it!=this->end();++it){ + size += it->getSize(); + } + return size; + } - bool isEmpty() const{ - return getCurrentSize()==0; - } + bool isEmpty() const{ + return getCurrentSize()==0; + } - double getPercentageFilled() const{ - uint32_t filledSize = 0; - for(typename IndexedRingMemoryArray::Iterator it= this->begin();it!=this->end();++it){ - filledSize += it->getSize(); - } + double getPercentageFilled() const{ + uint32_t filledSize = 0; + for(typename IndexedRingMemoryArray::Iterator it= this->begin();it!=this->end();++it){ + filledSize += it->getSize(); + } - return (double)filledSize/(double)this->totalSize; - } + return (double)filledSize/(double)this->totalSize; + } - typename IndexedRingMemoryArray::Iterator getCurrentWriteBlock() const{ - return currentWriteBlock; - } - /** - * Get the next block of the currentWriteBlock. - * Returns the first one if currentWriteBlock is the last one - * @return Iterator pointing to the next block after currentWriteBlock - */ - typename IndexedRingMemoryArray::Iterator getNextWrite() const{ - typename IndexedRingMemoryArray::Iterator next(currentWriteBlock); - if((this->size != 0) && (currentWriteBlock.value == this->back())){ - next = this->begin(); - }else{ - ++next; - } - return next; - } - /** - * Get the block in front of the Iterator - * Returns the last block if it is the first block - * @param it iterator which you want the previous block from - * @return pointing to the block before it - */ - typename IndexedRingMemoryArray::Iterator getPreviousBlock(typename IndexedRingMemoryArray::Iterator it) { - if(this->begin() == it){ - typename IndexedRingMemoryArray::Iterator next((this->back())); - return next; - } - typename IndexedRingMemoryArray::Iterator next(it); - --next; - return next; - } + typename IndexedRingMemoryArray::Iterator getCurrentWriteBlock() const{ + return currentWriteBlock; + } + /** + * Get the next block of the currentWriteBlock. + * Returns the first one if currentWriteBlock is the last one + * @return Iterator pointing to the next block after currentWriteBlock + */ + typename IndexedRingMemoryArray::Iterator getNextWrite() const{ + typename IndexedRingMemoryArray::Iterator next(currentWriteBlock); + if((this->size != 0) && (currentWriteBlock.value == this->back())){ + next = this->begin(); + }else{ + ++next; + } + return next; + } + /** + * Get the block in front of the Iterator + * Returns the last block if it is the first block + * @param it iterator which you want the previous block from + * @return pointing to the block before it + */ + typename IndexedRingMemoryArray::Iterator getPreviousBlock(typename IndexedRingMemoryArray::Iterator it) { + if(this->begin() == it){ + typename IndexedRingMemoryArray::Iterator next((this->back())); + return next; + } + typename IndexedRingMemoryArray::Iterator next(it); + --next; + return next; + } private: - //The total size used by the blocks (without index) - uint32_t totalSize; + //The total size used by the blocks (without index) + uint32_t totalSize; - //The address of the index - const uint32_t indexAddress; + //The address of the index + const uint32_t indexAddress; - //The iterators for writing and reading - typename IndexedRingMemoryArray::Iterator currentWriteBlock; - typename IndexedRingMemoryArray::Iterator currentReadBlock; + //The iterators for writing and reading + typename IndexedRingMemoryArray::Iterator currentWriteBlock; + typename IndexedRingMemoryArray::Iterator currentReadBlock; - //How much of the current read block is read already - uint32_t currentReadSize; + //How much of the current read block is read already + uint32_t currentReadSize; - //Cached Size of current read block - uint32_t currentReadBlockSizeCached; + //Cached Size of current read block + uint32_t currentReadBlockSizeCached; - //Last block of current write (should be write block) - typename IndexedRingMemoryArray::Iterator lastBlockToRead; - //current size of last Block to read - uint32_t lastBlockToReadSize; + //Last block of current write (should be write block) + typename IndexedRingMemoryArray::Iterator lastBlockToRead; + //current size of last Block to read + uint32_t lastBlockToReadSize; - //Additional Info to be serialized with the index - SerializeIF* additionalInfo; + //Additional Info to be serialized with the index + SerializeIF* additionalInfo; - //Does it overwrite old blocks? - const bool overwriteOld; + //Does it overwrite old blocks? + const bool overwriteOld; }; diff --git a/container/PlacementFactory.h b/container/PlacementFactory.h index a0aebb7d1..94b4aeefd 100644 --- a/container/PlacementFactory.h +++ b/container/PlacementFactory.h @@ -22,50 +22,50 @@ */ class PlacementFactory { public: - PlacementFactory(StorageManagerIF* backend) : - dataBackend(backend) { - } + PlacementFactory(StorageManagerIF* backend) : + dataBackend(backend) { + } - /*** - * Generates an object of type T in the backend storage. - * - * @warning Do not use with any Type that allocates memory internally! - * - * @tparam T Type of Object - * @param args Constructor Arguments to be passed - * @return A pointer to the new object or a nullptr in case of failure - */ - template - T* generate(Args&&... args) { - store_address_t tempId; - uint8_t* pData = nullptr; - ReturnValue_t result = dataBackend->getFreeElement(&tempId, sizeof(T), - &pData); - if (result != HasReturnvaluesIF::RETURN_OK) { - return nullptr; - } - T* temp = new (pData) T(std::forward(args)...); - return temp; - } - /*** - * Function to destroy the object allocated with generate and free space in backend. - * This must be called by the user. - * - * @param thisElement Element to be destroyed - * @return RETURN_OK if the element was destroyed, different errors on failure - */ - template - ReturnValue_t destroy(T* thisElement) { - if (thisElement == nullptr){ - return HasReturnvaluesIF::RETURN_FAILED; - } - //Need to call destructor first, in case something was allocated by the object (shouldn't do that, however). - thisElement->~T(); - uint8_t* pointer = (uint8_t*) (thisElement); - return dataBackend->deleteData(pointer, sizeof(T)); - } + /*** + * Generates an object of type T in the backend storage. + * + * @warning Do not use with any Type that allocates memory internally! + * + * @tparam T Type of Object + * @param args Constructor Arguments to be passed + * @return A pointer to the new object or a nullptr in case of failure + */ + template + T* generate(Args&&... args) { + store_address_t tempId; + uint8_t* pData = nullptr; + ReturnValue_t result = dataBackend->getFreeElement(&tempId, sizeof(T), + &pData); + if (result != HasReturnvaluesIF::RETURN_OK) { + return nullptr; + } + T* temp = new (pData) T(std::forward(args)...); + return temp; + } + /*** + * Function to destroy the object allocated with generate and free space in backend. + * This must be called by the user. + * + * @param thisElement Element to be destroyed + * @return RETURN_OK if the element was destroyed, different errors on failure + */ + template + ReturnValue_t destroy(T* thisElement) { + if (thisElement == nullptr){ + return HasReturnvaluesIF::RETURN_FAILED; + } + //Need to call destructor first, in case something was allocated by the object (shouldn't do that, however). + thisElement->~T(); + uint8_t* pointer = (uint8_t*) (thisElement); + return dataBackend->deleteData(pointer, sizeof(T)); + } private: - StorageManagerIF* dataBackend; + StorageManagerIF* dataBackend; }; #endif /* FRAMEWORK_CONTAINER_PLACEMENTFACTORY_H_ */ diff --git a/container/RingBufferBase.h b/container/RingBufferBase.h index 886b9fab9..9277c50bf 100644 --- a/container/RingBufferBase.h +++ b/container/RingBufferBase.h @@ -7,107 +7,107 @@ template class RingBufferBase { public: - RingBufferBase(size_t startAddress, const size_t size, bool overwriteOld) : - start(startAddress), write(startAddress), size(size), - overwriteOld(overwriteOld) { - for (uint8_t count = 0; count < N_READ_PTRS; count++) { - read[count] = startAddress; - } - } + RingBufferBase(size_t startAddress, const size_t size, bool overwriteOld) : + start(startAddress), write(startAddress), size(size), + overwriteOld(overwriteOld) { + for (uint8_t count = 0; count < N_READ_PTRS; count++) { + read[count] = startAddress; + } + } - virtual ~RingBufferBase() {} + virtual ~RingBufferBase() {} - bool isFull(uint8_t n = 0) { - return (availableWriteSpace(n) == 0); - } - bool isEmpty(uint8_t n = 0) { - return (getAvailableReadData(n) == 0); - } + bool isFull(uint8_t n = 0) { + return (availableWriteSpace(n) == 0); + } + bool isEmpty(uint8_t n = 0) { + return (getAvailableReadData(n) == 0); + } - size_t getAvailableReadData(uint8_t n = 0) const { - return ((write + size) - read[n]) % size; - } - size_t availableWriteSpace(uint8_t n = 0) const { - //One less to avoid ambiguous full/empty problem. - return (((read[n] + size) - write - 1) % size); - } + size_t getAvailableReadData(uint8_t n = 0) const { + return ((write + size) - read[n]) % size; + } + size_t availableWriteSpace(uint8_t n = 0) const { + //One less to avoid ambiguous full/empty problem. + return (((read[n] + size) - write - 1) % size); + } - bool overwritesOld() const { - return overwriteOld; - } + bool overwritesOld() const { + return overwriteOld; + } - size_t getMaxSize() const { - return size - 1; - } + size_t getMaxSize() const { + return size - 1; + } - void clear() { - write = start; - for (uint8_t count = 0; count < N_READ_PTRS; count++) { - read[count] = start; - } - } + void clear() { + write = start; + for (uint8_t count = 0; count < N_READ_PTRS; count++) { + read[count] = start; + } + } - size_t writeTillWrap() { - return (start + size) - write; - } + size_t writeTillWrap() { + return (start + size) - write; + } - size_t readTillWrap(uint8_t n = 0) { - return (start + size) - read[n]; - } + size_t readTillWrap(uint8_t n = 0) { + return (start + size) - read[n]; + } - size_t getStart() const { - return start; - } + size_t getStart() const { + return start; + } protected: - const size_t start; - size_t write; - size_t read[N_READ_PTRS]; - const size_t size; - const bool overwriteOld; + const size_t start; + size_t write; + size_t read[N_READ_PTRS]; + const size_t size; + const bool overwriteOld; - void incrementWrite(uint32_t amount) { - write = ((write + amount - start) % size) + start; - } - void incrementRead(uint32_t amount, uint8_t n = 0) { - read[n] = ((read[n] + amount - start) % size) + start; - } + void incrementWrite(uint32_t amount) { + write = ((write + amount - start) % size) + start; + } + void incrementRead(uint32_t amount, uint8_t n = 0) { + read[n] = ((read[n] + amount - start) % size) + start; + } - ReturnValue_t readData(uint32_t amount, uint8_t n = 0) { - if (getAvailableReadData(n) >= amount) { - incrementRead(amount, n); - return HasReturnvaluesIF::RETURN_OK; - } else { - return HasReturnvaluesIF::RETURN_FAILED; - } - } + ReturnValue_t readData(uint32_t amount, uint8_t n = 0) { + if (getAvailableReadData(n) >= amount) { + incrementRead(amount, n); + return HasReturnvaluesIF::RETURN_OK; + } else { + return HasReturnvaluesIF::RETURN_FAILED; + } + } - ReturnValue_t writeData(uint32_t amount) { - if (availableWriteSpace() >= amount or overwriteOld) { - incrementWrite(amount); - return HasReturnvaluesIF::RETURN_OK; - } else { - return HasReturnvaluesIF::RETURN_FAILED; - } - } + ReturnValue_t writeData(uint32_t amount) { + if (availableWriteSpace() >= amount or overwriteOld) { + incrementWrite(amount); + return HasReturnvaluesIF::RETURN_OK; + } else { + return HasReturnvaluesIF::RETURN_FAILED; + } + } - size_t getRead(uint8_t n = 0) const { - return read[n]; - } + size_t getRead(uint8_t n = 0) const { + return read[n]; + } - void setRead(uint32_t read, uint8_t n = 0) { - if (read >= start && read < (start+size)) { - this->read[n] = read; - } - } + void setRead(uint32_t read, uint8_t n = 0) { + if (read >= start && read < (start+size)) { + this->read[n] = read; + } + } - uint32_t getWrite() const { - return write; - } + uint32_t getWrite() const { + return write; + } - void setWrite(uint32_t write) { - this->write = write; - } + void setWrite(uint32_t write) { + this->write = write; + } }; #endif /* FSFW_CONTAINER_RINGBUFFERBASE_H_ */ diff --git a/container/SharedRingBuffer.cpp b/container/SharedRingBuffer.cpp index 769ce0000..1681325d0 100644 --- a/container/SharedRingBuffer.cpp +++ b/container/SharedRingBuffer.cpp @@ -3,23 +3,23 @@ #include "../ipc/MutexHelper.h" SharedRingBuffer::SharedRingBuffer(object_id_t objectId, const size_t size, - bool overwriteOld, size_t maxExcessBytes): - SystemObject(objectId), SimpleRingBuffer(size, overwriteOld, - maxExcessBytes) { - mutex = MutexFactory::instance()->createMutex(); + bool overwriteOld, size_t maxExcessBytes): + SystemObject(objectId), SimpleRingBuffer(size, overwriteOld, + maxExcessBytes) { + mutex = MutexFactory::instance()->createMutex(); } SharedRingBuffer::SharedRingBuffer(object_id_t objectId, uint8_t *buffer, - const size_t size, bool overwriteOld, size_t maxExcessBytes): - SystemObject(objectId), SimpleRingBuffer(buffer, size, overwriteOld, - maxExcessBytes) { - mutex = MutexFactory::instance()->createMutex(); + const size_t size, bool overwriteOld, size_t maxExcessBytes): + SystemObject(objectId), SimpleRingBuffer(buffer, size, overwriteOld, + maxExcessBytes) { + mutex = MutexFactory::instance()->createMutex(); } void SharedRingBuffer::setToUseReceiveSizeFIFO(size_t fifoDepth) { - this->fifoDepth = fifoDepth; + this->fifoDepth = fifoDepth; } ReturnValue_t SharedRingBuffer::lockRingBufferMutex( @@ -38,20 +38,20 @@ MutexIF* SharedRingBuffer::getMutexHandle() const { } ReturnValue_t SharedRingBuffer::initialize() { - if(fifoDepth > 0) { - receiveSizesFIFO = new DynamicFIFO(fifoDepth); - } - return SystemObject::initialize(); + if(fifoDepth > 0) { + receiveSizesFIFO = new DynamicFIFO(fifoDepth); + } + return SystemObject::initialize(); } DynamicFIFO* SharedRingBuffer::getReceiveSizesFIFO() { - if(receiveSizesFIFO == nullptr) { - // Configuration error. + if(receiveSizesFIFO == nullptr) { + // Configuration error. #if FSFW_CPP_OSTREAM_ENABLED == 1 - sif::warning << "SharedRingBuffer::getReceiveSizesFIFO: Ring buffer" - << " was not configured to have sizes FIFO, returning nullptr!" - << std::endl; + sif::warning << "SharedRingBuffer::getReceiveSizesFIFO: Ring buffer" + << " was not configured to have sizes FIFO, returning nullptr!" + << std::endl; #endif - } - return receiveSizesFIFO; + } + return receiveSizesFIFO; } diff --git a/container/SharedRingBuffer.h b/container/SharedRingBuffer.h index 64d7ee291..43ab6e8fe 100644 --- a/container/SharedRingBuffer.h +++ b/container/SharedRingBuffer.h @@ -15,76 +15,76 @@ * and unlock operations. */ class SharedRingBuffer: public SystemObject, - public SimpleRingBuffer { + public SimpleRingBuffer { public: - /** - * This constructor allocates a new internal buffer with the supplied size. - * @param size - * @param overwriteOld - * If the ring buffer is overflowing at a write operartion, the oldest data - * will be overwritten. - */ - SharedRingBuffer(object_id_t objectId, const size_t size, - bool overwriteOld, size_t maxExcessBytes); + /** + * This constructor allocates a new internal buffer with the supplied size. + * @param size + * @param overwriteOld + * If the ring buffer is overflowing at a write operartion, the oldest data + * will be overwritten. + */ + SharedRingBuffer(object_id_t objectId, const size_t size, + bool overwriteOld, size_t maxExcessBytes); - /** - * @brief This function can be used to add an optional FIFO to the class - * @details - * This FIFO will be allocated in the initialize function (and will - * have a fixed maximum size after that). It can be used to store - * values like packet sizes, for example for a shared ring buffer - * used by producer/consumer tasks. - */ - void setToUseReceiveSizeFIFO(size_t fifoDepth); + /** + * @brief This function can be used to add an optional FIFO to the class + * @details + * This FIFO will be allocated in the initialize function (and will + * have a fixed maximum size after that). It can be used to store + * values like packet sizes, for example for a shared ring buffer + * used by producer/consumer tasks. + */ + void setToUseReceiveSizeFIFO(size_t fifoDepth); - /** - * This constructor takes an external buffer with the specified size. - * @param buffer - * @param size - * @param overwriteOld - * If the ring buffer is overflowing at a write operartion, the oldest data - * will be overwritten. - */ - SharedRingBuffer(object_id_t objectId, uint8_t* buffer, const size_t size, - bool overwriteOld, size_t maxExcessBytes); + /** + * This constructor takes an external buffer with the specified size. + * @param buffer + * @param size + * @param overwriteOld + * If the ring buffer is overflowing at a write operartion, the oldest data + * will be overwritten. + */ + SharedRingBuffer(object_id_t objectId, uint8_t* buffer, const size_t size, + bool overwriteOld, size_t maxExcessBytes); - /** - * Unless a read-only constant value is read, all operations on the - * shared ring buffer should be protected by calling this function. - * @param timeoutType - * @param timeout - * @return - */ - virtual ReturnValue_t lockRingBufferMutex(MutexIF::TimeoutType timeoutType, - dur_millis_t timeout); - /** - * Any locked mutex also has to be unlocked, otherwise, access to the - * shared ring buffer will be blocked. - * @return - */ - virtual ReturnValue_t unlockRingBufferMutex(); + /** + * Unless a read-only constant value is read, all operations on the + * shared ring buffer should be protected by calling this function. + * @param timeoutType + * @param timeout + * @return + */ + virtual ReturnValue_t lockRingBufferMutex(MutexIF::TimeoutType timeoutType, + dur_millis_t timeout); + /** + * Any locked mutex also has to be unlocked, otherwise, access to the + * shared ring buffer will be blocked. + * @return + */ + virtual ReturnValue_t unlockRingBufferMutex(); - /** - * The mutex handle can be accessed directly, for example to perform - * the lock with the #MutexHelper for a RAII compliant lock operation. - * @return - */ - MutexIF* getMutexHandle() const; + /** + * The mutex handle can be accessed directly, for example to perform + * the lock with the #MutexHelper for a RAII compliant lock operation. + * @return + */ + MutexIF* getMutexHandle() const; - ReturnValue_t initialize() override; + ReturnValue_t initialize() override; - /** - * If the shared ring buffer was configured to have a sizes FIFO, a handle - * to that FIFO can be retrieved with this function. - * Do not forget to protect access with a lock if required! - * @return - */ - DynamicFIFO* getReceiveSizesFIFO(); + /** + * If the shared ring buffer was configured to have a sizes FIFO, a handle + * to that FIFO can be retrieved with this function. + * Do not forget to protect access with a lock if required! + * @return + */ + DynamicFIFO* getReceiveSizesFIFO(); private: - MutexIF* mutex = nullptr; + MutexIF* mutex = nullptr; - size_t fifoDepth = 0; - DynamicFIFO* receiveSizesFIFO = nullptr; + size_t fifoDepth = 0; + DynamicFIFO* receiveSizesFIFO = nullptr; }; diff --git a/container/SimpleRingBuffer.cpp b/container/SimpleRingBuffer.cpp index 88c9290ef..8544acbf3 100644 --- a/container/SimpleRingBuffer.cpp +++ b/container/SimpleRingBuffer.cpp @@ -2,31 +2,31 @@ #include SimpleRingBuffer::SimpleRingBuffer(const size_t size, bool overwriteOld, - size_t maxExcessBytes) : - RingBufferBase<>(0, size, overwriteOld), - maxExcessBytes(maxExcessBytes) { - if(maxExcessBytes > size) { - this->maxExcessBytes = size; - } - else { - this->maxExcessBytes = maxExcessBytes; - } - buffer = new uint8_t[size + maxExcessBytes]; + size_t maxExcessBytes) : + RingBufferBase<>(0, size, overwriteOld), + maxExcessBytes(maxExcessBytes) { + if(maxExcessBytes > size) { + this->maxExcessBytes = size; + } + else { + this->maxExcessBytes = maxExcessBytes; + } + buffer = new uint8_t[size + maxExcessBytes]; } SimpleRingBuffer::SimpleRingBuffer(uint8_t *buffer, const size_t size, - bool overwriteOld, size_t maxExcessBytes): + bool overwriteOld, size_t maxExcessBytes): RingBufferBase<>(0, size, overwriteOld), buffer(buffer) { - if(maxExcessBytes > size) { - this->maxExcessBytes = size; - } - else { - this->maxExcessBytes = maxExcessBytes; - } + if(maxExcessBytes > size) { + this->maxExcessBytes = size; + } + else { + this->maxExcessBytes = maxExcessBytes; + } } SimpleRingBuffer::~SimpleRingBuffer() { - delete[] buffer; + delete[] buffer; } ReturnValue_t SimpleRingBuffer::getFreeElement(uint8_t **writePointer, @@ -48,58 +48,58 @@ ReturnValue_t SimpleRingBuffer::getFreeElement(uint8_t **writePointer, } void SimpleRingBuffer::confirmBytesWritten(size_t amount) { - if(getExcessBytes() > 0) { - moveExcessBytesToStart(); - } - incrementWrite(amount); + if(getExcessBytes() > 0) { + moveExcessBytesToStart(); + } + incrementWrite(amount); } ReturnValue_t SimpleRingBuffer::writeData(const uint8_t* data, - size_t amount) { - if (availableWriteSpace() >= amount or overwriteOld) { - size_t amountTillWrap = writeTillWrap(); - if (amountTillWrap >= amount) { - // remaining size in buffer is sufficient to fit full amount. - memcpy(&buffer[write], data, amount); - } - else { - memcpy(&buffer[write], data, amountTillWrap); - memcpy(buffer, data + amountTillWrap, amount - amountTillWrap); - } - incrementWrite(amount); - return HasReturnvaluesIF::RETURN_OK; - } else { - return HasReturnvaluesIF::RETURN_FAILED; - } + size_t amount) { + if (availableWriteSpace() >= amount or overwriteOld) { + size_t amountTillWrap = writeTillWrap(); + if (amountTillWrap >= amount) { + // remaining size in buffer is sufficient to fit full amount. + memcpy(&buffer[write], data, amount); + } + else { + memcpy(&buffer[write], data, amountTillWrap); + memcpy(buffer, data + amountTillWrap, amount - amountTillWrap); + } + incrementWrite(amount); + return HasReturnvaluesIF::RETURN_OK; + } else { + return HasReturnvaluesIF::RETURN_FAILED; + } } ReturnValue_t SimpleRingBuffer::readData(uint8_t* data, size_t amount, - bool incrementReadPtr, bool readRemaining, size_t* trueAmount) { - size_t availableData = getAvailableReadData(READ_PTR); - size_t amountTillWrap = readTillWrap(READ_PTR); - if (availableData < amount) { - if (readRemaining) { - // more data available than amount specified. - amount = availableData; - } else { - return HasReturnvaluesIF::RETURN_FAILED; - } - } - if (trueAmount != nullptr) { - *trueAmount = amount; - } - if (amountTillWrap >= amount) { - memcpy(data, &buffer[read[READ_PTR]], amount); - } else { - memcpy(data, &buffer[read[READ_PTR]], amountTillWrap); - memcpy(data + amountTillWrap, buffer, amount - amountTillWrap); - } + bool incrementReadPtr, bool readRemaining, size_t* trueAmount) { + size_t availableData = getAvailableReadData(READ_PTR); + size_t amountTillWrap = readTillWrap(READ_PTR); + if (availableData < amount) { + if (readRemaining) { + // more data available than amount specified. + amount = availableData; + } else { + return HasReturnvaluesIF::RETURN_FAILED; + } + } + if (trueAmount != nullptr) { + *trueAmount = amount; + } + if (amountTillWrap >= amount) { + memcpy(data, &buffer[read[READ_PTR]], amount); + } else { + memcpy(data, &buffer[read[READ_PTR]], amountTillWrap); + memcpy(data + amountTillWrap, buffer, amount - amountTillWrap); + } - if(incrementReadPtr) { - deleteData(amount, readRemaining); - } - return HasReturnvaluesIF::RETURN_OK; + if(incrementReadPtr) { + deleteData(amount, readRemaining); + } + return HasReturnvaluesIF::RETURN_OK; } size_t SimpleRingBuffer::getExcessBytes() const { @@ -114,18 +114,18 @@ void SimpleRingBuffer::moveExcessBytesToStart() { } ReturnValue_t SimpleRingBuffer::deleteData(size_t amount, - bool deleteRemaining, size_t* trueAmount) { - size_t availableData = getAvailableReadData(READ_PTR); - if (availableData < amount) { - if (deleteRemaining) { - amount = availableData; - } else { - return HasReturnvaluesIF::RETURN_FAILED; - } - } - if (trueAmount != nullptr) { - *trueAmount = amount; - } - incrementRead(amount, READ_PTR); - return HasReturnvaluesIF::RETURN_OK; + bool deleteRemaining, size_t* trueAmount) { + size_t availableData = getAvailableReadData(READ_PTR); + if (availableData < amount) { + if (deleteRemaining) { + amount = availableData; + } else { + return HasReturnvaluesIF::RETURN_FAILED; + } + } + if (trueAmount != nullptr) { + *trueAmount = amount; + } + incrementRead(amount, READ_PTR); + return HasReturnvaluesIF::RETURN_OK; } diff --git a/container/SimpleRingBuffer.h b/container/SimpleRingBuffer.h index 37ad5679f..6f31c5fba 100644 --- a/container/SimpleRingBuffer.h +++ b/container/SimpleRingBuffer.h @@ -5,7 +5,7 @@ #include /** - * @brief Circular buffer implementation, useful for buffering + * @brief Circular buffer implementation, useful for buffering * into data streams. * @details * Note that the deleteData() has to be called to increment the read pointer. @@ -25,104 +25,104 @@ public: * with getFreeElement. * */ - SimpleRingBuffer(const size_t size, bool overwriteOld, - size_t maxExcessBytes = 0); - /** - * This constructor takes an external buffer with the specified size. - * @param buffer - * @param size - * @param overwriteOld - * If the ring buffer is overflowing at a write operartion, the oldest data + SimpleRingBuffer(const size_t size, bool overwriteOld, + size_t maxExcessBytes = 0); + /** + * This constructor takes an external buffer with the specified size. + * @param buffer + * @param size + * @param overwriteOld + * If the ring buffer is overflowing at a write operartion, the oldest data * will be overwritten. - * @param maxExcessBytes - * If the buffer can accomodate additional bytes for contigous write - * operations with getFreeElement, this is the maximum allowed additional - * size - */ - SimpleRingBuffer(uint8_t* buffer, const size_t size, bool overwriteOld, - size_t maxExcessBytes = 0); + * @param maxExcessBytes + * If the buffer can accomodate additional bytes for contigous write + * operations with getFreeElement, this is the maximum allowed additional + * size + */ + SimpleRingBuffer(uint8_t* buffer, const size_t size, bool overwriteOld, + size_t maxExcessBytes = 0); - virtual ~SimpleRingBuffer(); + virtual ~SimpleRingBuffer(); - /** - * Write to circular buffer and increment write pointer by amount. - * @param data - * @param amount - * @return -@c RETURN_OK if write operation was successfull - * -@c RETURN_FAILED if - */ - ReturnValue_t writeData(const uint8_t* data, size_t amount); + /** + * Write to circular buffer and increment write pointer by amount. + * @param data + * @param amount + * @return -@c RETURN_OK if write operation was successfull + * -@c RETURN_FAILED if + */ + ReturnValue_t writeData(const uint8_t* data, size_t amount); - /** - * Returns a pointer to a free element. If the remaining buffer is - * not large enough, the data will be written past the actual size - * and the amount of excess bytes will be cached. This function - * does not increment the write pointer! - * @param writePointer Pointer to a pointer which can be used to write - * contiguous blocks into the ring buffer - * @param amount - * @return - */ - ReturnValue_t getFreeElement(uint8_t** writePointer, size_t amount); + /** + * Returns a pointer to a free element. If the remaining buffer is + * not large enough, the data will be written past the actual size + * and the amount of excess bytes will be cached. This function + * does not increment the write pointer! + * @param writePointer Pointer to a pointer which can be used to write + * contiguous blocks into the ring buffer + * @param amount + * @return + */ + ReturnValue_t getFreeElement(uint8_t** writePointer, size_t amount); - /** - * This increments the write pointer and also copies the excess bytes - * to the beginning. It should be called if the write operation - * conducted after calling getFreeElement() was performed. - * @return - */ - void confirmBytesWritten(size_t amount); + /** + * This increments the write pointer and also copies the excess bytes + * to the beginning. It should be called if the write operation + * conducted after calling getFreeElement() was performed. + * @return + */ + void confirmBytesWritten(size_t amount); - virtual size_t getExcessBytes() const; - /** - * Helper functions which moves any excess bytes to the start - * of the ring buffer. - * @return - */ - virtual void moveExcessBytesToStart(); + virtual size_t getExcessBytes() const; + /** + * Helper functions which moves any excess bytes to the start + * of the ring buffer. + * @return + */ + virtual void moveExcessBytesToStart(); - /** - * Read from circular buffer at read pointer. - * @param data - * @param amount - * @param incrementReadPtr - * If this is set to true, the read pointer will be incremented. - * If readRemaining is set to true, the read pointer will be incremented - * accordingly. - * @param readRemaining - * If this is set to true, the data will be read even if the amount - * specified exceeds the read data available. - * @param trueAmount [out] - * If readRemaining was set to true, the true amount read will be assigned - * to the passed value. - * @return - * - @c RETURN_OK if data was read successfully - * - @c RETURN_FAILED if not enough data was available and readRemaining - * was set to false. - */ - ReturnValue_t readData(uint8_t* data, size_t amount, - bool incrementReadPtr = false, bool readRemaining = false, - size_t* trueAmount = nullptr); + /** + * Read from circular buffer at read pointer. + * @param data + * @param amount + * @param incrementReadPtr + * If this is set to true, the read pointer will be incremented. + * If readRemaining is set to true, the read pointer will be incremented + * accordingly. + * @param readRemaining + * If this is set to true, the data will be read even if the amount + * specified exceeds the read data available. + * @param trueAmount [out] + * If readRemaining was set to true, the true amount read will be assigned + * to the passed value. + * @return + * - @c RETURN_OK if data was read successfully + * - @c RETURN_FAILED if not enough data was available and readRemaining + * was set to false. + */ + ReturnValue_t readData(uint8_t* data, size_t amount, + bool incrementReadPtr = false, bool readRemaining = false, + size_t* trueAmount = nullptr); - /** - * Delete data by incrementing read pointer. - * @param amount - * @param deleteRemaining - * If the amount specified is larger than the remaing size to read and this - * is set to true, the remaining amount will be deleted as well - * @param trueAmount [out] - * If deleteRemaining was set to true, the amount deleted will be assigned - * to the passed value. - * @return - */ - ReturnValue_t deleteData(size_t amount, bool deleteRemaining = false, - size_t* trueAmount = nullptr); + /** + * Delete data by incrementing read pointer. + * @param amount + * @param deleteRemaining + * If the amount specified is larger than the remaing size to read and this + * is set to true, the remaining amount will be deleted as well + * @param trueAmount [out] + * If deleteRemaining was set to true, the amount deleted will be assigned + * to the passed value. + * @return + */ + ReturnValue_t deleteData(size_t amount, bool deleteRemaining = false, + size_t* trueAmount = nullptr); private: - static const uint8_t READ_PTR = 0; - uint8_t* buffer = nullptr; - size_t maxExcessBytes; - size_t excessBytes = 0; + static const uint8_t READ_PTR = 0; + uint8_t* buffer = nullptr; + size_t maxExcessBytes; + size_t excessBytes = 0; }; #endif /* FSFW_CONTAINER_SIMPLERINGBUFFER_H_ */ diff --git a/container/SinglyLinkedList.h b/container/SinglyLinkedList.h index eb6ae276a..02d590c5c 100644 --- a/container/SinglyLinkedList.h +++ b/container/SinglyLinkedList.h @@ -5,71 +5,71 @@ #include /** - * @brief Linked list data structure, - * each entry has a pointer to the next entry (singly) + * @brief Linked list data structure, + * each entry has a pointer to the next entry (singly) * @ingroup container */ template class LinkedElement { public: - T *value; - class Iterator { - public: - LinkedElement *value = nullptr; - Iterator() {} + T *value; + class Iterator { + public: + LinkedElement *value = nullptr; + Iterator() {} - Iterator(LinkedElement *element) : - value(element) { - } + Iterator(LinkedElement *element) : + value(element) { + } - Iterator& operator++() { - value = value->getNext(); - return *this; - } + Iterator& operator++() { + value = value->getNext(); + return *this; + } - Iterator operator++(int) { - Iterator tmp(*this); - operator++(); - return tmp; - } + Iterator operator++(int) { + Iterator tmp(*this); + operator++(); + return tmp; + } - bool operator==(Iterator other) { - return value == other.value; - } + bool operator==(Iterator other) { + return value == other.value; + } - bool operator!=(Iterator other) { - return !(*this == other); - } - T *operator->() { - return value->value; - } - }; + bool operator!=(Iterator other) { + return !(*this == other); + } + T *operator->() { + return value->value; + } + }; - LinkedElement(T* setElement, LinkedElement* setNext = nullptr): - value(setElement), next(setNext) {} + LinkedElement(T* setElement, LinkedElement* setNext = nullptr): + value(setElement), next(setNext) {} - virtual ~LinkedElement(){} + virtual ~LinkedElement(){} - virtual LinkedElement* getNext() const { - return next; - } + virtual LinkedElement* getNext() const { + return next; + } - virtual void setNext(LinkedElement* next) { - this->next = next; - } + virtual void setNext(LinkedElement* next) { + this->next = next; + } - virtual void setEnd() { - this->next = nullptr; - } + virtual void setEnd() { + this->next = nullptr; + } - LinkedElement* begin() { - return this; - } - LinkedElement* end() { - return nullptr; - } + LinkedElement* begin() { + return this; + } + LinkedElement* end() { + return nullptr; + } private: - LinkedElement *next; + LinkedElement *next; }; template @@ -77,52 +77,52 @@ class SinglyLinkedList { public: using ElementIterator = typename LinkedElement::Iterator; - SinglyLinkedList() {} + SinglyLinkedList() {} - SinglyLinkedList(ElementIterator start) : - start(start.value) {} + SinglyLinkedList(ElementIterator start) : + start(start.value) {} - SinglyLinkedList(LinkedElement* startElement) : - start(startElement) {} + SinglyLinkedList(LinkedElement* startElement) : + start(startElement) {} - ElementIterator begin() const { - return ElementIterator::Iterator(start); - } + ElementIterator begin() const { + return ElementIterator::Iterator(start); + } - /** Returns iterator to nulltr */ - ElementIterator end() const { - return ElementIterator::Iterator(); - } + /** Returns iterator to nulltr */ + ElementIterator end() const { + return ElementIterator::Iterator(); + } - /** - * Returns last element in singly linked list. - * @return - */ - ElementIterator back() const { - LinkedElement *element = start; - while (element->getNext() != nullptr) { - element = element->getNext(); - } - return ElementIterator::Iterator(element); - } + /** + * Returns last element in singly linked list. + * @return + */ + ElementIterator back() const { + LinkedElement *element = start; + while (element->getNext() != nullptr) { + element = element->getNext(); + } + return ElementIterator::Iterator(element); + } - size_t getSize() const { - size_t size = 0; - LinkedElement *element = start; - while (element != nullptr) { - size++; - element = element->getNext(); - } - return size; - } - void setStart(LinkedElement* firstElement) { - start = firstElement; - } + size_t getSize() const { + size_t size = 0; + LinkedElement *element = start; + while (element != nullptr) { + size++; + element = element->getNext(); + } + return size; + } + void setStart(LinkedElement* firstElement) { + start = firstElement; + } - void setNext(LinkedElement* currentElement, - LinkedElement* nextElement) { - currentElement->setNext(nextElement); - } + void setNext(LinkedElement* currentElement, + LinkedElement* nextElement) { + currentElement->setNext(nextElement); + } void setLast(LinkedElement* lastElement) { lastElement->setEnd(); @@ -148,7 +148,7 @@ public: } protected: - LinkedElement *start = nullptr; + LinkedElement *start = nullptr; }; #endif /* SINGLYLINKEDLIST_H_ */ diff --git a/controller/CMakeLists.txt b/controller/CMakeLists.txt index 6f6607388..b7624d989 100644 --- a/controller/CMakeLists.txt +++ b/controller/CMakeLists.txt @@ -1,4 +1,4 @@ target_sources(${LIB_FSFW_NAME} - PRIVATE - ControllerBase.cpp + PRIVATE + ControllerBase.cpp ) \ No newline at end of file diff --git a/controller/ControllerBase.cpp b/controller/ControllerBase.cpp index 2a4024680..89f0ff681 100644 --- a/controller/ControllerBase.cpp +++ b/controller/ControllerBase.cpp @@ -5,128 +5,128 @@ #include "../action/HasActionsIF.h" ControllerBase::ControllerBase(object_id_t setObjectId, object_id_t parentId, - size_t commandQueueDepth) : - SystemObject(setObjectId), parentId(parentId), mode(MODE_OFF), - submode(SUBMODE_NONE), modeHelper(this), - healthHelper(this, setObjectId) { - commandQueue = QueueFactory::instance()->createMessageQueue( - commandQueueDepth); + size_t commandQueueDepth) : + SystemObject(setObjectId), parentId(parentId), mode(MODE_OFF), + submode(SUBMODE_NONE), modeHelper(this), + healthHelper(this, setObjectId) { + commandQueue = QueueFactory::instance()->createMessageQueue( + commandQueueDepth); } ControllerBase::~ControllerBase() { - QueueFactory::instance()->deleteMessageQueue(commandQueue); + QueueFactory::instance()->deleteMessageQueue(commandQueue); } ReturnValue_t ControllerBase::initialize() { - ReturnValue_t result = SystemObject::initialize(); - if (result != RETURN_OK) { - return result; - } + ReturnValue_t result = SystemObject::initialize(); + if (result != RETURN_OK) { + return result; + } - MessageQueueId_t parentQueue = 0; - if (parentId != objects::NO_OBJECT) { - SubsystemBase *parent = objectManager->get(parentId); - if (parent == nullptr) { - return RETURN_FAILED; - } - parentQueue = parent->getCommandQueue(); + MessageQueueId_t parentQueue = 0; + if (parentId != objects::NO_OBJECT) { + SubsystemBase *parent = objectManager->get(parentId); + if (parent == nullptr) { + return RETURN_FAILED; + } + parentQueue = parent->getCommandQueue(); - parent->registerChild(getObjectId()); - } + parent->registerChild(getObjectId()); + } - result = healthHelper.initialize(parentQueue); - if (result != RETURN_OK) { - return result; - } + result = healthHelper.initialize(parentQueue); + if (result != RETURN_OK) { + return result; + } - result = modeHelper.initialize(parentQueue); - if (result != RETURN_OK) { - return result; - } + result = modeHelper.initialize(parentQueue); + if (result != RETURN_OK) { + return result; + } - return RETURN_OK; + return RETURN_OK; } MessageQueueId_t ControllerBase::getCommandQueue() const { - return commandQueue->getId(); + return commandQueue->getId(); } void ControllerBase::handleQueue() { - CommandMessage command; - ReturnValue_t result = HasReturnvaluesIF::RETURN_OK; - for (result = commandQueue->receiveMessage(&command); - result == RETURN_OK; - result = commandQueue->receiveMessage(&command)) { + CommandMessage command; + ReturnValue_t result = HasReturnvaluesIF::RETURN_OK; + for (result = commandQueue->receiveMessage(&command); + result == RETURN_OK; + result = commandQueue->receiveMessage(&command)) { - result = modeHelper.handleModeCommand(&command); - if (result == RETURN_OK) { - continue; - } + result = modeHelper.handleModeCommand(&command); + if (result == RETURN_OK) { + continue; + } - result = healthHelper.handleHealthCommand(&command); - if (result == RETURN_OK) { - continue; - } - result = handleCommandMessage(&command); - if (result == RETURN_OK) { - continue; - } - command.setToUnknownCommand(); - commandQueue->reply(&command); - } + result = healthHelper.handleHealthCommand(&command); + if (result == RETURN_OK) { + continue; + } + result = handleCommandMessage(&command); + if (result == RETURN_OK) { + continue; + } + command.setToUnknownCommand(); + commandQueue->reply(&command); + } } void ControllerBase::startTransition(Mode_t mode, Submode_t submode) { - changeHK(this->mode, this->submode, false); - triggerEvent(CHANGING_MODE, mode, submode); - this->mode = mode; - this->submode = submode; - modeHelper.modeChanged(mode, submode); - modeChanged(mode, submode); - announceMode(false); - changeHK(this->mode, this->submode, true); + changeHK(this->mode, this->submode, false); + triggerEvent(CHANGING_MODE, mode, submode); + this->mode = mode; + this->submode = submode; + modeHelper.modeChanged(mode, submode); + modeChanged(mode, submode); + announceMode(false); + changeHK(this->mode, this->submode, true); } void ControllerBase::getMode(Mode_t* mode, Submode_t* submode) { - *mode = this->mode; - *submode = this->submode; + *mode = this->mode; + *submode = this->submode; } void ControllerBase::setToExternalControl() { - healthHelper.setHealth(EXTERNAL_CONTROL); + healthHelper.setHealth(EXTERNAL_CONTROL); } void ControllerBase::announceMode(bool recursive) { - triggerEvent(MODE_INFO, mode, submode); + triggerEvent(MODE_INFO, mode, submode); } ReturnValue_t ControllerBase::performOperation(uint8_t opCode) { - handleQueue(); - performControlOperation(); - return RETURN_OK; + handleQueue(); + performControlOperation(); + return RETURN_OK; } void ControllerBase::modeChanged(Mode_t mode, Submode_t submode) { - return; + return; } ReturnValue_t ControllerBase::setHealth(HealthState health) { - switch (health) { - case HEALTHY: - case EXTERNAL_CONTROL: - healthHelper.setHealth(health); - return RETURN_OK; - default: - return INVALID_HEALTH_STATE; - } + switch (health) { + case HEALTHY: + case EXTERNAL_CONTROL: + healthHelper.setHealth(health); + return RETURN_OK; + default: + return INVALID_HEALTH_STATE; + } } HasHealthIF::HealthState ControllerBase::getHealth() { - return healthHelper.getHealth(); + return healthHelper.getHealth(); } void ControllerBase::setTaskIF(PeriodicTaskIF* task_){ - executingTask = task_; + executingTask = task_; } void ControllerBase::changeHK(Mode_t mode, Submode_t submode, bool enable) { diff --git a/controller/ControllerBase.h b/controller/ControllerBase.h index 6e83fe80b..f583342fe 100644 --- a/controller/ControllerBase.h +++ b/controller/ControllerBase.h @@ -17,39 +17,39 @@ * a mode and a health state. This avoids boilerplate code. */ class ControllerBase: public HasModesIF, - public HasHealthIF, - public ExecutableObjectIF, - public SystemObject, - public HasReturnvaluesIF { + public HasHealthIF, + public ExecutableObjectIF, + public SystemObject, + public HasReturnvaluesIF { public: - static const Mode_t MODE_NORMAL = 2; + static const Mode_t MODE_NORMAL = 2; - ControllerBase(object_id_t setObjectId, object_id_t parentId, - size_t commandQueueDepth = 3); - virtual ~ControllerBase(); + ControllerBase(object_id_t setObjectId, object_id_t parentId, + size_t commandQueueDepth = 3); + virtual ~ControllerBase(); - /** SystemObject override */ - virtual ReturnValue_t initialize() override; + /** SystemObject override */ + virtual ReturnValue_t initialize() override; - virtual MessageQueueId_t getCommandQueue() const override; + virtual MessageQueueId_t getCommandQueue() const override; - /** HasHealthIF overrides */ - virtual ReturnValue_t setHealth(HealthState health) override; - virtual HasHealthIF::HealthState getHealth() override; + /** HasHealthIF overrides */ + virtual ReturnValue_t setHealth(HealthState health) override; + virtual HasHealthIF::HealthState getHealth() override; - /** ExecutableObjectIF overrides */ - virtual ReturnValue_t performOperation(uint8_t opCode) override; - virtual void setTaskIF(PeriodicTaskIF* task) override; - virtual ReturnValue_t initializeAfterTaskCreation() override; + /** ExecutableObjectIF overrides */ + virtual ReturnValue_t performOperation(uint8_t opCode) override; + virtual void setTaskIF(PeriodicTaskIF* task) override; + virtual ReturnValue_t initializeAfterTaskCreation() override; protected: - /** - * Implemented by child class. Handle command messages which are not - * mode or health messages. - * @param message - * @return - */ + /** + * Implemented by child class. Handle command messages which are not + * mode or health messages. + * @param message + * @return + */ virtual ReturnValue_t handleCommandMessage(CommandMessage *message) = 0; /** @@ -60,35 +60,35 @@ protected: virtual ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode, uint32_t *msToReachTheMode) = 0; - const object_id_t parentId; + const object_id_t parentId; - Mode_t mode; + Mode_t mode; - Submode_t submode; + Submode_t submode; - MessageQueueIF* commandQueue = nullptr; + MessageQueueIF* commandQueue = nullptr; - ModeHelper modeHelper; + ModeHelper modeHelper; - HealthHelper healthHelper; + HealthHelper healthHelper; - /** - * Pointer to the task which executes this component, - * is invalid before setTaskIF was called. - */ - PeriodicTaskIF* executingTask = nullptr; + /** + * Pointer to the task which executes this component, + * is invalid before setTaskIF was called. + */ + PeriodicTaskIF* executingTask = nullptr; - /** Handle mode and health messages */ - virtual void handleQueue(); + /** Handle mode and health messages */ + virtual void handleQueue(); - /** Mode helpers */ - virtual void modeChanged(Mode_t mode, Submode_t submode); - virtual void startTransition(Mode_t mode, Submode_t submode); - virtual void getMode(Mode_t *mode, Submode_t *submode); - virtual void setToExternalControl(); - virtual void announceMode(bool recursive); - /** HK helpers */ - virtual void changeHK(Mode_t mode, Submode_t submode, bool enable); + /** Mode helpers */ + virtual void modeChanged(Mode_t mode, Submode_t submode); + virtual void startTransition(Mode_t mode, Submode_t submode); + virtual void getMode(Mode_t *mode, Submode_t *submode); + virtual void setToExternalControl(); + virtual void announceMode(bool recursive); + /** HK helpers */ + virtual void changeHK(Mode_t mode, Submode_t submode, bool enable); }; #endif /* FSFW_CONTROLLER_CONTROLLERBASE_H_ */ From 9266c874c15073b175ceb8958d75eff3758539da Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Thu, 28 Jan 2021 11:57:38 +0100 Subject: [PATCH 03/11] applied on cmakelists as well --- action/CMakeLists.txt | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/action/CMakeLists.txt b/action/CMakeLists.txt index a62d4044b..f9ac451df 100644 --- a/action/CMakeLists.txt +++ b/action/CMakeLists.txt @@ -1,7 +1,7 @@ target_sources(${LIB_FSFW_NAME} - PRIVATE - ActionHelper.cpp - ActionMessage.cpp - CommandActionHelper.cpp - SimpleActionHelper.cpp + PRIVATE + ActionHelper.cpp + ActionMessage.cpp + CommandActionHelper.cpp + SimpleActionHelper.cpp ) \ No newline at end of file From 7f47a10cbd422be23b62715ddbc930d2b08f212e Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Thu, 28 Jan 2021 11:58:18 +0100 Subject: [PATCH 04/11] applied to cmakelists file --- container/CMakeLists.txt | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/container/CMakeLists.txt b/container/CMakeLists.txt index 904cde55b..13eced1d0 100644 --- a/container/CMakeLists.txt +++ b/container/CMakeLists.txt @@ -1,5 +1,5 @@ target_sources(${LIB_FSFW_NAME} - PRIVATE - SharedRingBuffer.cpp - SimpleRingBuffer.cpp + PRIVATE + SharedRingBuffer.cpp + SimpleRingBuffer.cpp ) \ No newline at end of file From 9b2772c12660f95a1977cb098a0f7b29ddf3c7d1 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Mon, 8 Feb 2021 13:42:44 +0100 Subject: [PATCH 05/11] better diagnostic printout if case there are issues --- tmtcservices/CommandingServiceBase.cpp | 25 ++++++++++++++++++++++--- 1 file changed, 22 insertions(+), 3 deletions(-) diff --git a/tmtcservices/CommandingServiceBase.cpp b/tmtcservices/CommandingServiceBase.cpp index 259f2ccbc..8b6f7a097 100644 --- a/tmtcservices/CommandingServiceBase.cpp +++ b/tmtcservices/CommandingServiceBase.cpp @@ -7,6 +7,7 @@ #include "../ipc/QueueFactory.h" #include "../tmtcpacket/pus/TcPacketStored.h" #include "../tmtcpacket/pus/TmPacketStored.h" +#include "../serviceinterface/ServiceInterface.h" object_id_t CommandingServiceBase::defaultPacketSource = objects::NO_OBJECT; object_id_t CommandingServiceBase::defaultPacketDestination = objects::NO_OBJECT; @@ -104,9 +105,27 @@ ReturnValue_t CommandingServiceBase::initialize() { void CommandingServiceBase::handleCommandQueue() { CommandMessage reply; ReturnValue_t result = RETURN_FAILED; - for (result = commandQueue->receiveMessage(&reply); result == RETURN_OK; - result = commandQueue->receiveMessage(&reply)) { - handleCommandMessage(&reply); + while(true) { + result = commandQueue->receiveMessage(&reply); + if (result == HasReturnvaluesIF::RETURN_OK) { + handleCommandMessage(&reply); + continue; + } + else if(result == MessageQueueIF::EMPTY) { + break; + } + else { +#if FSFW_VERBOSE_LEVEL >= 1 +#if FSFW_CPP_OSTREAM_ENABLED == 1 + sif::warning << "CommandingServiceBase::handleCommandQueue: Receiving message failed" + "with code" << result << std::endl; +#else + sif::printWarning("CommandingServiceBase::handleCommandQueue: Receiving message " + "failed with code %d\n", result); +#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */ +#endif /* FSFW_VERBOSE_LEVEL >= 1 */ + break; + } } } From d4d3da60a914655de6ef3e65adca2f68f0c9234a Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Mon, 8 Feb 2021 13:47:20 +0100 Subject: [PATCH 06/11] format improvements --- datapoollocal/LocalPoolObjectBase.h | 6 ++---- 1 file changed, 2 insertions(+), 4 deletions(-) diff --git a/datapoollocal/LocalPoolObjectBase.h b/datapoollocal/LocalPoolObjectBase.h index 797cf8b5a..3f7fb6ddf 100644 --- a/datapoollocal/LocalPoolObjectBase.h +++ b/datapoollocal/LocalPoolObjectBase.h @@ -20,12 +20,10 @@ class LocalPoolObjectBase: public PoolVariableIF, public HasReturnvaluesIF, public MarkChangedIF { public: - LocalPoolObjectBase(lp_id_t poolId, - HasLocalDataPoolIF* hkOwner, DataSetIF* dataSet, + LocalPoolObjectBase(lp_id_t poolId, HasLocalDataPoolIF* hkOwner, DataSetIF* dataSet, pool_rwm_t setReadWriteMode); - LocalPoolObjectBase(object_id_t poolOwner, lp_id_t poolId, - DataSetIF* dataSet = nullptr, + LocalPoolObjectBase(object_id_t poolOwner, lp_id_t poolId, DataSetIF* dataSet = nullptr, pool_rwm_t setReadWriteMode = pool_rwm_t::VAR_READ_WRITE); void setReadWriteMode(pool_rwm_t newReadWriteMode); From 16763202c1e6ba0cf83f1dea6bece23b894e0723 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Mon, 8 Feb 2021 14:22:34 +0100 Subject: [PATCH 07/11] taken over action folder --- action/ActionHelper.cpp | 214 +++++++++++++++++---------------- action/ActionHelper.h | 177 +++++++++++++-------------- action/ActionMessage.cpp | 86 ++++++------- action/ActionMessage.h | 44 +++---- action/CommandActionHelper.cpp | 188 ++++++++++++++--------------- action/CommandActionHelper.h | 36 +++--- action/CommandsActionsIF.h | 28 ++--- action/HasActionsIF.h | 44 +++---- action/SimpleActionHelper.cpp | 102 ++++++++-------- action/SimpleActionHelper.h | 30 ++--- 10 files changed, 480 insertions(+), 469 deletions(-) diff --git a/action/ActionHelper.cpp b/action/ActionHelper.cpp index 285579160..e32be68b2 100644 --- a/action/ActionHelper.cpp +++ b/action/ActionHelper.cpp @@ -3,151 +3,119 @@ #include "../ipc/MessageQueueSenderIF.h" #include "../objectmanager/ObjectManagerIF.h" +#include "../serviceinterface/ServiceInterface.h" ActionHelper::ActionHelper(HasActionsIF* setOwner, MessageQueueIF* useThisQueue) : - owner(setOwner), queueToUse(useThisQueue) { + owner(setOwner), queueToUse(useThisQueue) { } ActionHelper::~ActionHelper() { } ReturnValue_t ActionHelper::handleActionMessage(CommandMessage* command) { - if (command->getCommand() == ActionMessage::EXECUTE_ACTION) { - ActionId_t currentAction = ActionMessage::getActionId(command); - prepareExecution(command->getSender(), currentAction, - ActionMessage::getStoreId(command)); - return HasReturnvaluesIF::RETURN_OK; - } else { - return CommandMessage::UNKNOWN_COMMAND; - } + if (command->getCommand() == ActionMessage::EXECUTE_ACTION) { + ActionId_t currentAction = ActionMessage::getActionId(command); + prepareExecution(command->getSender(), currentAction, + ActionMessage::getStoreId(command)); + return HasReturnvaluesIF::RETURN_OK; + } else { + return CommandMessage::UNKNOWN_COMMAND; + } } ReturnValue_t ActionHelper::initialize(MessageQueueIF* queueToUse_) { - ipcStore = objectManager->get(objects::IPC_STORE); - if (ipcStore == nullptr) { - return HasReturnvaluesIF::RETURN_FAILED; - } - if(queueToUse_ != nullptr) { - setQueueToUse(queueToUse_); - } + ipcStore = objectManager->get(objects::IPC_STORE); + if (ipcStore == nullptr) { + return HasReturnvaluesIF::RETURN_FAILED; + } + if(queueToUse_ != nullptr) { + setQueueToUse(queueToUse_); + } - return HasReturnvaluesIF::RETURN_OK; + return HasReturnvaluesIF::RETURN_OK; } void ActionHelper::step(uint8_t step, MessageQueueId_t reportTo, ActionId_t commandId, ReturnValue_t result) { - CommandMessage reply; - ActionMessage::setStepReply(&reply, commandId, step + STEP_OFFSET, result); - queueToUse->sendMessage(reportTo, &reply); + CommandMessage reply; + ActionMessage::setStepReply(&reply, commandId, step + STEP_OFFSET, result); + queueToUse->sendMessage(reportTo, &reply); } void ActionHelper::finish(MessageQueueId_t reportTo, ActionId_t commandId, ReturnValue_t result) { - CommandMessage reply; - ActionMessage::setCompletionReply(&reply, commandId, result); - queueToUse->sendMessage(reportTo, &reply); + CommandMessage reply; + ActionMessage::setCompletionReply(&reply, commandId, result); + queueToUse->sendMessage(reportTo, &reply); } void ActionHelper::setQueueToUse(MessageQueueIF* queue) { - queueToUse = queue; + queueToUse = queue; } void ActionHelper::prepareExecution(MessageQueueId_t commandedBy, ActionId_t actionId, store_address_t dataAddress) { - const uint8_t* dataPtr = NULL; - size_t size = 0; - ReturnValue_t result = ipcStore->getData(dataAddress, &dataPtr, &size); - if (result != HasReturnvaluesIF::RETURN_OK) { - CommandMessage reply; - ActionMessage::setStepReply(&reply, actionId, 0, result); - queueToUse->sendMessage(commandedBy, &reply); - return; - } - result = owner->executeAction(actionId, commandedBy, dataPtr, size); - ipcStore->deleteData(dataAddress); - if(result == HasActionsIF::EXECUTION_FINISHED) { - CommandMessage reply; - ActionMessage::setCompletionReply(&reply, actionId, result); - queueToUse->sendMessage(commandedBy, &reply); - } - if (result != HasReturnvaluesIF::RETURN_OK) { - CommandMessage reply; - ActionMessage::setStepReply(&reply, actionId, 0, result); - queueToUse->sendMessage(commandedBy, &reply); - return; - } + const uint8_t* dataPtr = NULL; + size_t size = 0; + ReturnValue_t result = ipcStore->getData(dataAddress, &dataPtr, &size); + if (result != HasReturnvaluesIF::RETURN_OK) { + CommandMessage reply; + ActionMessage::setStepReply(&reply, actionId, 0, result); + queueToUse->sendMessage(commandedBy, &reply); + return; + } + result = owner->executeAction(actionId, commandedBy, dataPtr, size); + ipcStore->deleteData(dataAddress); + if(result == HasActionsIF::EXECUTION_FINISHED) { + CommandMessage reply; + ActionMessage::setCompletionReply(&reply, actionId, result); + queueToUse->sendMessage(commandedBy, &reply); + } + if (result != HasReturnvaluesIF::RETURN_OK) { + CommandMessage reply; + ActionMessage::setStepReply(&reply, actionId, 0, result); + queueToUse->sendMessage(commandedBy, &reply); + return; + } } ReturnValue_t ActionHelper::reportData(MessageQueueId_t reportTo, - ActionId_t replyId, SerializeIF* data, bool hideSender) { - CommandMessage reply; - store_address_t storeAddress; - uint8_t *dataPtr; - size_t maxSize = data->getSerializedSize(); - if (maxSize == 0) { - //No error, there's simply nothing to report. - return HasReturnvaluesIF::RETURN_OK; - } - size_t size = 0; - ReturnValue_t result = ipcStore->getFreeElement(&storeAddress, maxSize, - &dataPtr); - if (result != HasReturnvaluesIF::RETURN_OK) { - return result; - } - result = data->serialize(&dataPtr, &size, maxSize, - SerializeIF::Endianness::BIG); - if (result != HasReturnvaluesIF::RETURN_OK) { - ipcStore->deleteData(storeAddress); - return result; - } - // We don't need to report the objectId, as we receive REQUESTED data - // before the completion success message. - // True aperiodic replies need to be reported with - // another dedicated message. - ActionMessage::setDataReply(&reply, replyId, storeAddress); - - // If the sender needs to be hidden, for example to handle packet - // as unrequested reply, this will be done here. - if (hideSender) { - result = MessageQueueSenderIF::sendMessage(reportTo, &reply); - } - else { - result = queueToUse->sendMessage(reportTo, &reply); - } - - if (result != HasReturnvaluesIF::RETURN_OK){ - ipcStore->deleteData(storeAddress); - } - return result; -} - -void ActionHelper::resetHelper() { -} - -ReturnValue_t ActionHelper::reportData(MessageQueueId_t reportTo, - ActionId_t replyId, const uint8_t *data, size_t dataSize, - bool hideSender) { + ActionId_t replyId, SerializeIF* data, bool hideSender) { CommandMessage reply; store_address_t storeAddress; - ReturnValue_t result = ipcStore->addData(&storeAddress, data, dataSize); + uint8_t *dataPtr; + size_t maxSize = data->getSerializedSize(); + if (maxSize == 0) { + /* No error, there's simply nothing to report. */ + return HasReturnvaluesIF::RETURN_OK; + } + size_t size = 0; + ReturnValue_t result = ipcStore->getFreeElement(&storeAddress, maxSize, + &dataPtr); if (result != HasReturnvaluesIF::RETURN_OK) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 + sif::warning << "ActionHelper::reportData: Getting free element from IPC store failed!" << + std::endl; +#else + sif::printWarning("ActionHelper::reportData: Getting free element from IPC " + "store failed!\n"); +#endif return result; } - + result = data->serialize(&dataPtr, &size, maxSize, + SerializeIF::Endianness::BIG); if (result != HasReturnvaluesIF::RETURN_OK) { ipcStore->deleteData(storeAddress); return result; } - // We don't need to report the objectId, as we receive REQUESTED data - // before the completion success message. - // True aperiodic replies need to be reported with - // another dedicated message. + /* We don't need to report the objectId, as we receive REQUESTED data before the completion + success message. True aperiodic replies need to be reported with another dedicated message. */ ActionMessage::setDataReply(&reply, replyId, storeAddress); - // If the sender needs to be hidden, for example to handle packet - // as unrequested reply, this will be done here. + /* If the sender needs to be hidden, for example to handle packet + as unrequested reply, this will be done here. */ if (hideSender) { result = MessageQueueSenderIF::sendMessage(reportTo, &reply); } @@ -160,3 +128,45 @@ ReturnValue_t ActionHelper::reportData(MessageQueueId_t reportTo, } return result; } + +void ActionHelper::resetHelper() { +} + +ReturnValue_t ActionHelper::reportData(MessageQueueId_t reportTo, + ActionId_t replyId, const uint8_t *data, size_t dataSize, + bool hideSender) { + CommandMessage reply; + store_address_t storeAddress; + ReturnValue_t result = ipcStore->addData(&storeAddress, data, dataSize); + if (result != HasReturnvaluesIF::RETURN_OK) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 + sif::warning << "ActionHelper::reportData: Adding data to IPC store failed!" << std::endl; +#else + sif::printWarning("ActionHelper::reportData: Adding data to IPC store failed!\n"); +#endif + return result; + } + + if (result != HasReturnvaluesIF::RETURN_OK) { + ipcStore->deleteData(storeAddress); + return result; + } + + /* We don't need to report the objectId, as we receive REQUESTED data before the completion + success message. True aperiodic replies need to be reported with another dedicated message. */ + ActionMessage::setDataReply(&reply, replyId, storeAddress); + + /* If the sender needs to be hidden, for example to handle packet + as unrequested reply, this will be done here. */ + if (hideSender) { + result = MessageQueueSenderIF::sendMessage(reportTo, &reply); + } + else { + result = queueToUse->sendMessage(reportTo, &reply); + } + + if (result != HasReturnvaluesIF::RETURN_OK) { + ipcStore->deleteData(storeAddress); + } + return result; +} diff --git a/action/ActionHelper.h b/action/ActionHelper.h index a91722f39..35ac41d1c 100644 --- a/action/ActionHelper.h +++ b/action/ActionHelper.h @@ -18,68 +18,68 @@ class HasActionsIF; class ActionHelper { public: - /** - * Constructor of the action helper - * @param setOwner Pointer to the owner of the interface - * @param useThisQueue messageQueue to be used, can be set during - * initialize function as well. - */ - ActionHelper(HasActionsIF* setOwner, MessageQueueIF* useThisQueue); + /** + * Constructor of the action helper + * @param setOwner Pointer to the owner of the interface + * @param useThisQueue messageQueue to be used, can be set during + * initialize function as well. + */ + ActionHelper(HasActionsIF* setOwner, MessageQueueIF* useThisQueue); - virtual ~ActionHelper(); - /** - * Function to be called from the owner with a new command message - * - * If the message is a valid action message the helper will use the - * executeAction function from HasActionsIF. - * If the message is invalid or the callback fails a message reply will be - * send to the sender of the message automatically. - * - * @param command Pointer to a command message received by the owner - * @return HasReturnvaluesIF::RETURN_OK if the message is a action message, - * CommandMessage::UNKNOW_COMMAND if this message ID is unkown - */ - ReturnValue_t handleActionMessage(CommandMessage* command); - /** - * Helper initialize function. Must be called before use of any other - * helper function - * @param queueToUse_ Pointer to the messageQueue to be used, optional - * if queue was set in constructor - * @return Returns RETURN_OK if successful - */ - ReturnValue_t initialize(MessageQueueIF* queueToUse_ = nullptr); - /** - * Function to be called from the owner to send a step message. - * Success or failure will be determined by the result value. - * - * @param step Number of steps already done - * @param reportTo The messageQueueId to report the step message to - * @param commandId ID of the executed command - * @param result Result of the execution - */ - void step(uint8_t step, MessageQueueId_t reportTo, - ActionId_t commandId, - ReturnValue_t result = HasReturnvaluesIF::RETURN_OK); - /** - * Function to be called by the owner to send a action completion message - * - * @param reportTo MessageQueueId_t to report the action completion message to - * @param commandId ID of the executed command - * @param result Result of the execution - */ - void finish(MessageQueueId_t reportTo, ActionId_t commandId, - ReturnValue_t result = HasReturnvaluesIF::RETURN_OK); - /** - * Function to be called by the owner if an action does report data. - * Takes a SerializeIF* pointer and serializes it into the IPC store. - * @param reportTo MessageQueueId_t to report the action completion - * message to - * @param replyId ID of the executed command - * @param data Pointer to the data - * @return Returns RETURN_OK if successful, otherwise failure code - */ - ReturnValue_t reportData(MessageQueueId_t reportTo, ActionId_t replyId, - SerializeIF* data, bool hideSender = false); + virtual ~ActionHelper(); + /** + * Function to be called from the owner with a new command message + * + * If the message is a valid action message the helper will use the + * executeAction function from HasActionsIF. + * If the message is invalid or the callback fails a message reply will be + * send to the sender of the message automatically. + * + * @param command Pointer to a command message received by the owner + * @return HasReturnvaluesIF::RETURN_OK if the message is a action message, + * CommandMessage::UNKNOW_COMMAND if this message ID is unkown + */ + ReturnValue_t handleActionMessage(CommandMessage* command); + /** + * Helper initialize function. Must be called before use of any other + * helper function + * @param queueToUse_ Pointer to the messageQueue to be used, optional + * if queue was set in constructor + * @return Returns RETURN_OK if successful + */ + ReturnValue_t initialize(MessageQueueIF* queueToUse_ = nullptr); + /** + * Function to be called from the owner to send a step message. + * Success or failure will be determined by the result value. + * + * @param step Number of steps already done + * @param reportTo The messageQueueId to report the step message to + * @param commandId ID of the executed command + * @param result Result of the execution + */ + void step(uint8_t step, MessageQueueId_t reportTo, + ActionId_t commandId, + ReturnValue_t result = HasReturnvaluesIF::RETURN_OK); + /** + * Function to be called by the owner to send a action completion message + * + * @param reportTo MessageQueueId_t to report the action completion message to + * @param commandId ID of the executed command + * @param result Result of the execution + */ + void finish(MessageQueueId_t reportTo, ActionId_t commandId, + ReturnValue_t result = HasReturnvaluesIF::RETURN_OK); + /** + * Function to be called by the owner if an action does report data. + * Takes a SerializeIF* pointer and serializes it into the IPC store. + * @param reportTo MessageQueueId_t to report the action completion + * message to + * @param replyId ID of the executed command + * @param data Pointer to the data + * @return Returns RETURN_OK if successful, otherwise failure code + */ + ReturnValue_t reportData(MessageQueueId_t reportTo, ActionId_t replyId, + SerializeIF* data, bool hideSender = false); /** * Function to be called by the owner if an action does report data. * Takes the raw data and writes it into the IPC store. @@ -91,35 +91,36 @@ public: */ ReturnValue_t reportData(MessageQueueId_t reportTo, ActionId_t replyId, const uint8_t* data, size_t dataSize, bool hideSender = false); - /** - * Function to setup the MessageQueueIF* of the helper. Can be used to - * set the MessageQueueIF* if message queue is unavailable at construction - * and initialize but must be setup before first call of other functions. - * @param queue Queue to be used by the helper - */ - void setQueueToUse(MessageQueueIF *queue); + /** + * Function to setup the MessageQueueIF* of the helper. Can be used to + * set the MessageQueueIF* if message queue is unavailable at construction + * and initialize but must be setup before first call of other functions. + * @param queue Queue to be used by the helper + */ + void setQueueToUse(MessageQueueIF *queue); protected: - //!< Increase of value of this per step - static const uint8_t STEP_OFFSET = 1; - HasActionsIF* owner;//!< Pointer to the owner - //! Queue to be used as response sender, has to be set in ctor or with - //! setQueueToUse - MessageQueueIF* queueToUse; - //! Pointer to an IPC Store, initialized during construction or - StorageManagerIF* ipcStore = nullptr; + //! Increase of value of this per step + static const uint8_t STEP_OFFSET = 1; + //! Pointer to the owner + HasActionsIF* owner; + //! Queue to be used as response sender, has to be set in ctor or with + //! setQueueToUse + MessageQueueIF* queueToUse; + //! Pointer to an IPC Store, initialized during construction or + StorageManagerIF* ipcStore = nullptr; - /** - * Internal function called by handleActionMessage - * @param commandedBy MessageQueueID of Commander - * @param actionId ID of action to be done - * @param dataAddress Address of additional data in IPC Store - */ - virtual void prepareExecution(MessageQueueId_t commandedBy, - ActionId_t actionId, store_address_t dataAddress); - /** - * @brief Default implementation is empty. - */ - virtual void resetHelper(); + /** + * Internal function called by handleActionMessage + * @param commandedBy MessageQueueID of Commander + * @param actionId ID of action to be done + * @param dataAddress Address of additional data in IPC Store + */ + virtual void prepareExecution(MessageQueueId_t commandedBy, + ActionId_t actionId, store_address_t dataAddress); + /** + * @brief Default implementation is empty. + */ + virtual void resetHelper(); }; #endif /* FSFW_ACTION_ACTIONHELPER_H_ */ diff --git a/action/ActionMessage.cpp b/action/ActionMessage.cpp index 1c00dee0f..c3eb47109 100644 --- a/action/ActionMessage.cpp +++ b/action/ActionMessage.cpp @@ -11,71 +11,71 @@ ActionMessage::~ActionMessage() { } void ActionMessage::setCommand(CommandMessage* message, ActionId_t fid, - store_address_t parameters) { - message->setCommand(EXECUTE_ACTION); - message->setParameter(fid); - message->setParameter2(parameters.raw); + store_address_t parameters) { + message->setCommand(EXECUTE_ACTION); + message->setParameter(fid); + message->setParameter2(parameters.raw); } ActionId_t ActionMessage::getActionId(const CommandMessage* message) { - return ActionId_t(message->getParameter()); + return ActionId_t(message->getParameter()); } store_address_t ActionMessage::getStoreId(const CommandMessage* message) { - store_address_t temp; - temp.raw = message->getParameter2(); - return temp; + store_address_t temp; + temp.raw = message->getParameter2(); + return temp; } void ActionMessage::setStepReply(CommandMessage* message, ActionId_t fid, uint8_t step, - ReturnValue_t result) { - if (result == HasReturnvaluesIF::RETURN_OK) { - message->setCommand(STEP_SUCCESS); - } else { - message->setCommand(STEP_FAILED); - } - message->setParameter(fid); - message->setParameter2((step << 16) + result); + ReturnValue_t result) { + if (result == HasReturnvaluesIF::RETURN_OK) { + message->setCommand(STEP_SUCCESS); + } else { + message->setCommand(STEP_FAILED); + } + message->setParameter(fid); + message->setParameter2((step << 16) + result); } uint8_t ActionMessage::getStep(const CommandMessage* message) { - return uint8_t((message->getParameter2() >> 16) & 0xFF); + return uint8_t((message->getParameter2() >> 16) & 0xFF); } ReturnValue_t ActionMessage::getReturnCode(const CommandMessage* message) { - return message->getParameter2() & 0xFFFF; + return message->getParameter2() & 0xFFFF; } void ActionMessage::setDataReply(CommandMessage* message, ActionId_t actionId, - store_address_t data) { - message->setCommand(DATA_REPLY); - message->setParameter(actionId); - message->setParameter2(data.raw); + store_address_t data) { + message->setCommand(DATA_REPLY); + message->setParameter(actionId); + message->setParameter2(data.raw); } void ActionMessage::setCompletionReply(CommandMessage* message, - ActionId_t fid, ReturnValue_t result) { - if (result == HasReturnvaluesIF::RETURN_OK or result == HasActionsIF::EXECUTION_FINISHED) { - message->setCommand(COMPLETION_SUCCESS); - } else { - message->setCommand(COMPLETION_FAILED); - } - message->setParameter(fid); - message->setParameter2(result); + ActionId_t fid, ReturnValue_t result) { + if (result == HasReturnvaluesIF::RETURN_OK or result == HasActionsIF::EXECUTION_FINISHED) { + message->setCommand(COMPLETION_SUCCESS); + } else { + message->setCommand(COMPLETION_FAILED); + } + message->setParameter(fid); + message->setParameter2(result); } void ActionMessage::clear(CommandMessage* message) { - switch(message->getCommand()) { - case EXECUTE_ACTION: - case DATA_REPLY: { - StorageManagerIF *ipcStore = objectManager->get( - objects::IPC_STORE); - if (ipcStore != NULL) { - ipcStore->deleteData(getStoreId(message)); - } - break; - } - default: - break; - } + switch(message->getCommand()) { + case EXECUTE_ACTION: + case DATA_REPLY: { + StorageManagerIF *ipcStore = objectManager->get( + objects::IPC_STORE); + if (ipcStore != NULL) { + ipcStore->deleteData(getStoreId(message)); + } + break; + } + default: + break; + } } diff --git a/action/ActionMessage.h b/action/ActionMessage.h index deb110952..246ac601d 100644 --- a/action/ActionMessage.h +++ b/action/ActionMessage.h @@ -15,29 +15,29 @@ using ActionId_t = uint32_t; */ class ActionMessage { private: - ActionMessage(); + ActionMessage(); public: - static const uint8_t MESSAGE_ID = messagetypes::ACTION; - static const Command_t EXECUTE_ACTION = MAKE_COMMAND_ID(1); - static const Command_t STEP_SUCCESS = MAKE_COMMAND_ID(2); - static const Command_t STEP_FAILED = MAKE_COMMAND_ID(3); - static const Command_t DATA_REPLY = MAKE_COMMAND_ID(4); - static const Command_t COMPLETION_SUCCESS = MAKE_COMMAND_ID(5); - static const Command_t COMPLETION_FAILED = MAKE_COMMAND_ID(6); - virtual ~ActionMessage(); - static void setCommand(CommandMessage* message, ActionId_t fid, - store_address_t parameters); - static ActionId_t getActionId(const CommandMessage* message ); - static store_address_t getStoreId(const CommandMessage* message ); - static void setStepReply(CommandMessage* message, ActionId_t fid, - uint8_t step, ReturnValue_t result = HasReturnvaluesIF::RETURN_OK); - static uint8_t getStep(const CommandMessage* message ); - static ReturnValue_t getReturnCode(const CommandMessage* message ); - static void setDataReply(CommandMessage* message, ActionId_t actionId, - store_address_t data); - static void setCompletionReply(CommandMessage* message, ActionId_t fid, - ReturnValue_t result = HasReturnvaluesIF::RETURN_OK); - static void clear(CommandMessage* message); + static const uint8_t MESSAGE_ID = messagetypes::ACTION; + static const Command_t EXECUTE_ACTION = MAKE_COMMAND_ID(1); + static const Command_t STEP_SUCCESS = MAKE_COMMAND_ID(2); + static const Command_t STEP_FAILED = MAKE_COMMAND_ID(3); + static const Command_t DATA_REPLY = MAKE_COMMAND_ID(4); + static const Command_t COMPLETION_SUCCESS = MAKE_COMMAND_ID(5); + static const Command_t COMPLETION_FAILED = MAKE_COMMAND_ID(6); + virtual ~ActionMessage(); + static void setCommand(CommandMessage* message, ActionId_t fid, + store_address_t parameters); + static ActionId_t getActionId(const CommandMessage* message ); + static store_address_t getStoreId(const CommandMessage* message ); + static void setStepReply(CommandMessage* message, ActionId_t fid, + uint8_t step, ReturnValue_t result = HasReturnvaluesIF::RETURN_OK); + static uint8_t getStep(const CommandMessage* message ); + static ReturnValue_t getReturnCode(const CommandMessage* message ); + static void setDataReply(CommandMessage* message, ActionId_t actionId, + store_address_t data); + static void setCompletionReply(CommandMessage* message, ActionId_t fid, + ReturnValue_t result = HasReturnvaluesIF::RETURN_OK); + static void clear(CommandMessage* message); }; #endif /* FSFW_ACTION_ACTIONMESSAGE_H_ */ diff --git a/action/CommandActionHelper.cpp b/action/CommandActionHelper.cpp index 4e88f3c34..148b36575 100644 --- a/action/CommandActionHelper.cpp +++ b/action/CommandActionHelper.cpp @@ -5,123 +5,123 @@ #include "../objectmanager/ObjectManagerIF.h" CommandActionHelper::CommandActionHelper(CommandsActionsIF *setOwner) : - owner(setOwner), queueToUse(NULL), ipcStore( - NULL), commandCount(0), lastTarget(0) { + owner(setOwner), queueToUse(NULL), ipcStore( + NULL), commandCount(0), lastTarget(0) { } CommandActionHelper::~CommandActionHelper() { } ReturnValue_t CommandActionHelper::commandAction(object_id_t commandTo, - ActionId_t actionId, SerializeIF *data) { - HasActionsIF *receiver = objectManager->get(commandTo); - if (receiver == NULL) { - return CommandsActionsIF::OBJECT_HAS_NO_FUNCTIONS; - } - store_address_t storeId; - uint8_t *storePointer; - size_t maxSize = data->getSerializedSize(); - ReturnValue_t result = ipcStore->getFreeElement(&storeId, maxSize, - &storePointer); - if (result != HasReturnvaluesIF::RETURN_OK) { - return result; - } - size_t size = 0; - result = data->serialize(&storePointer, &size, maxSize, - SerializeIF::Endianness::BIG); - if (result != HasReturnvaluesIF::RETURN_OK) { - return result; - } - return sendCommand(receiver->getCommandQueue(), actionId, storeId); + ActionId_t actionId, SerializeIF *data) { + HasActionsIF *receiver = objectManager->get(commandTo); + if (receiver == NULL) { + return CommandsActionsIF::OBJECT_HAS_NO_FUNCTIONS; + } + store_address_t storeId; + uint8_t *storePointer; + size_t maxSize = data->getSerializedSize(); + ReturnValue_t result = ipcStore->getFreeElement(&storeId, maxSize, + &storePointer); + if (result != HasReturnvaluesIF::RETURN_OK) { + return result; + } + size_t size = 0; + result = data->serialize(&storePointer, &size, maxSize, + SerializeIF::Endianness::BIG); + if (result != HasReturnvaluesIF::RETURN_OK) { + return result; + } + return sendCommand(receiver->getCommandQueue(), actionId, storeId); } ReturnValue_t CommandActionHelper::commandAction(object_id_t commandTo, - ActionId_t actionId, const uint8_t *data, uint32_t size) { -// if (commandCount != 0) { -// return CommandsFunctionsIF::ALREADY_COMMANDING; -// } - HasActionsIF *receiver = objectManager->get(commandTo); - if (receiver == NULL) { - return CommandsActionsIF::OBJECT_HAS_NO_FUNCTIONS; - } - store_address_t storeId; - ReturnValue_t result = ipcStore->addData(&storeId, data, size); - if (result != HasReturnvaluesIF::RETURN_OK) { - return result; - } - return sendCommand(receiver->getCommandQueue(), actionId, storeId); + ActionId_t actionId, const uint8_t *data, uint32_t size) { +// if (commandCount != 0) { +// return CommandsFunctionsIF::ALREADY_COMMANDING; +// } + HasActionsIF *receiver = objectManager->get(commandTo); + if (receiver == NULL) { + return CommandsActionsIF::OBJECT_HAS_NO_FUNCTIONS; + } + store_address_t storeId; + ReturnValue_t result = ipcStore->addData(&storeId, data, size); + if (result != HasReturnvaluesIF::RETURN_OK) { + return result; + } + return sendCommand(receiver->getCommandQueue(), actionId, storeId); } ReturnValue_t CommandActionHelper::sendCommand(MessageQueueId_t queueId, - ActionId_t actionId, store_address_t storeId) { - CommandMessage command; - ActionMessage::setCommand(&command, actionId, storeId); - ReturnValue_t result = queueToUse->sendMessage(queueId, &command); - if (result != HasReturnvaluesIF::RETURN_OK) { - ipcStore->deleteData(storeId); - } - lastTarget = queueId; - commandCount++; - return result; + ActionId_t actionId, store_address_t storeId) { + CommandMessage command; + ActionMessage::setCommand(&command, actionId, storeId); + ReturnValue_t result = queueToUse->sendMessage(queueId, &command); + if (result != HasReturnvaluesIF::RETURN_OK) { + ipcStore->deleteData(storeId); + } + lastTarget = queueId; + commandCount++; + return result; } ReturnValue_t CommandActionHelper::initialize() { - ipcStore = objectManager->get(objects::IPC_STORE); - if (ipcStore == NULL) { - return HasReturnvaluesIF::RETURN_FAILED; - } + ipcStore = objectManager->get(objects::IPC_STORE); + if (ipcStore == NULL) { + return HasReturnvaluesIF::RETURN_FAILED; + } - queueToUse = owner->getCommandQueuePtr(); - if (queueToUse == NULL) { - return HasReturnvaluesIF::RETURN_FAILED; - } - return HasReturnvaluesIF::RETURN_OK; + queueToUse = owner->getCommandQueuePtr(); + if (queueToUse == NULL) { + return HasReturnvaluesIF::RETURN_FAILED; + } + return HasReturnvaluesIF::RETURN_OK; } ReturnValue_t CommandActionHelper::handleReply(CommandMessage *reply) { - if (reply->getSender() != lastTarget) { - return HasReturnvaluesIF::RETURN_FAILED; - } - switch (reply->getCommand()) { - case ActionMessage::COMPLETION_SUCCESS: - commandCount--; - owner->completionSuccessfulReceived(ActionMessage::getActionId(reply)); - return HasReturnvaluesIF::RETURN_OK; - case ActionMessage::COMPLETION_FAILED: - commandCount--; - owner->completionFailedReceived(ActionMessage::getActionId(reply), - ActionMessage::getReturnCode(reply)); - return HasReturnvaluesIF::RETURN_OK; - case ActionMessage::STEP_SUCCESS: - owner->stepSuccessfulReceived(ActionMessage::getActionId(reply), - ActionMessage::getStep(reply)); - return HasReturnvaluesIF::RETURN_OK; - case ActionMessage::STEP_FAILED: - commandCount--; - owner->stepFailedReceived(ActionMessage::getActionId(reply), - ActionMessage::getStep(reply), - ActionMessage::getReturnCode(reply)); - return HasReturnvaluesIF::RETURN_OK; - case ActionMessage::DATA_REPLY: - extractDataForOwner(ActionMessage::getActionId(reply), - ActionMessage::getStoreId(reply)); - return HasReturnvaluesIF::RETURN_OK; - default: - return HasReturnvaluesIF::RETURN_FAILED; - } + if (reply->getSender() != lastTarget) { + return HasReturnvaluesIF::RETURN_FAILED; + } + switch (reply->getCommand()) { + case ActionMessage::COMPLETION_SUCCESS: + commandCount--; + owner->completionSuccessfulReceived(ActionMessage::getActionId(reply)); + return HasReturnvaluesIF::RETURN_OK; + case ActionMessage::COMPLETION_FAILED: + commandCount--; + owner->completionFailedReceived(ActionMessage::getActionId(reply), + ActionMessage::getReturnCode(reply)); + return HasReturnvaluesIF::RETURN_OK; + case ActionMessage::STEP_SUCCESS: + owner->stepSuccessfulReceived(ActionMessage::getActionId(reply), + ActionMessage::getStep(reply)); + return HasReturnvaluesIF::RETURN_OK; + case ActionMessage::STEP_FAILED: + commandCount--; + owner->stepFailedReceived(ActionMessage::getActionId(reply), + ActionMessage::getStep(reply), + ActionMessage::getReturnCode(reply)); + return HasReturnvaluesIF::RETURN_OK; + case ActionMessage::DATA_REPLY: + extractDataForOwner(ActionMessage::getActionId(reply), + ActionMessage::getStoreId(reply)); + return HasReturnvaluesIF::RETURN_OK; + default: + return HasReturnvaluesIF::RETURN_FAILED; + } } uint8_t CommandActionHelper::getCommandCount() const { - return commandCount; + return commandCount; } void CommandActionHelper::extractDataForOwner(ActionId_t actionId, store_address_t storeId) { - const uint8_t * data = NULL; - size_t size = 0; - ReturnValue_t result = ipcStore->getData(storeId, &data, &size); - if (result != HasReturnvaluesIF::RETURN_OK) { - return; - } - owner->dataReceived(actionId, data, size); - ipcStore->deleteData(storeId); + const uint8_t * data = NULL; + size_t size = 0; + ReturnValue_t result = ipcStore->getData(storeId, &data, &size); + if (result != HasReturnvaluesIF::RETURN_OK) { + return; + } + owner->dataReceived(actionId, data, size); + ipcStore->deleteData(storeId); } diff --git a/action/CommandActionHelper.h b/action/CommandActionHelper.h index cfed8c941..96ef1763a 100644 --- a/action/CommandActionHelper.h +++ b/action/CommandActionHelper.h @@ -11,26 +11,26 @@ class CommandsActionsIF; class CommandActionHelper { - friend class CommandsActionsIF; + friend class CommandsActionsIF; public: - CommandActionHelper(CommandsActionsIF* owner); - virtual ~CommandActionHelper(); - ReturnValue_t commandAction(object_id_t commandTo, - ActionId_t actionId, const uint8_t* data, uint32_t size); - ReturnValue_t commandAction(object_id_t commandTo, - ActionId_t actionId, SerializeIF* data); - ReturnValue_t initialize(); - ReturnValue_t handleReply(CommandMessage* reply); - uint8_t getCommandCount() const; + CommandActionHelper(CommandsActionsIF* owner); + virtual ~CommandActionHelper(); + ReturnValue_t commandAction(object_id_t commandTo, + ActionId_t actionId, const uint8_t* data, uint32_t size); + ReturnValue_t commandAction(object_id_t commandTo, + ActionId_t actionId, SerializeIF* data); + ReturnValue_t initialize(); + ReturnValue_t handleReply(CommandMessage* reply); + uint8_t getCommandCount() const; private: - CommandsActionsIF* owner; - MessageQueueIF* queueToUse; - StorageManagerIF* ipcStore; - uint8_t commandCount; - MessageQueueId_t lastTarget; - void extractDataForOwner(ActionId_t actionId, store_address_t storeId); - ReturnValue_t sendCommand(MessageQueueId_t queueId, ActionId_t actionId, - store_address_t storeId); + CommandsActionsIF* owner; + MessageQueueIF* queueToUse; + StorageManagerIF* ipcStore; + uint8_t commandCount; + MessageQueueId_t lastTarget; + void extractDataForOwner(ActionId_t actionId, store_address_t storeId); + ReturnValue_t sendCommand(MessageQueueId_t queueId, ActionId_t actionId, + store_address_t storeId); }; #endif /* COMMANDACTIONHELPER_H_ */ diff --git a/action/CommandsActionsIF.h b/action/CommandsActionsIF.h index 491bfc703..fe7e856c2 100644 --- a/action/CommandsActionsIF.h +++ b/action/CommandsActionsIF.h @@ -15,22 +15,22 @@ * - replyReceived(id, step, cause) (if cause == OK, it's a success). */ class CommandsActionsIF { - friend class CommandActionHelper; + friend class CommandActionHelper; public: - static const uint8_t INTERFACE_ID = CLASS_ID::COMMANDS_ACTIONS_IF; - static const ReturnValue_t OBJECT_HAS_NO_FUNCTIONS = MAKE_RETURN_CODE(1); - static const ReturnValue_t ALREADY_COMMANDING = MAKE_RETURN_CODE(2); - virtual ~CommandsActionsIF() {} - virtual MessageQueueIF* getCommandQueuePtr() = 0; + static const uint8_t INTERFACE_ID = CLASS_ID::COMMANDS_ACTIONS_IF; + static const ReturnValue_t OBJECT_HAS_NO_FUNCTIONS = MAKE_RETURN_CODE(1); + static const ReturnValue_t ALREADY_COMMANDING = MAKE_RETURN_CODE(2); + virtual ~CommandsActionsIF() {} + virtual MessageQueueIF* getCommandQueuePtr() = 0; protected: - virtual void stepSuccessfulReceived(ActionId_t actionId, uint8_t step) = 0; - virtual void stepFailedReceived(ActionId_t actionId, uint8_t step, - ReturnValue_t returnCode) = 0; - virtual void dataReceived(ActionId_t actionId, const uint8_t* data, - uint32_t size) = 0; - virtual void completionSuccessfulReceived(ActionId_t actionId) = 0; - virtual void completionFailedReceived(ActionId_t actionId, - ReturnValue_t returnCode) = 0; + virtual void stepSuccessfulReceived(ActionId_t actionId, uint8_t step) = 0; + virtual void stepFailedReceived(ActionId_t actionId, uint8_t step, + ReturnValue_t returnCode) = 0; + virtual void dataReceived(ActionId_t actionId, const uint8_t* data, + uint32_t size) = 0; + virtual void completionSuccessfulReceived(ActionId_t actionId) = 0; + virtual void completionFailedReceived(ActionId_t actionId, + ReturnValue_t returnCode) = 0; }; diff --git a/action/HasActionsIF.h b/action/HasActionsIF.h index 690f03698..056e674c3 100644 --- a/action/HasActionsIF.h +++ b/action/HasActionsIF.h @@ -35,28 +35,28 @@ */ class HasActionsIF { public: - static const uint8_t INTERFACE_ID = CLASS_ID::HAS_ACTIONS_IF; - static const ReturnValue_t IS_BUSY = MAKE_RETURN_CODE(1); - static const ReturnValue_t INVALID_PARAMETERS = MAKE_RETURN_CODE(2); - static const ReturnValue_t EXECUTION_FINISHED = MAKE_RETURN_CODE(3); - static const ReturnValue_t INVALID_ACTION_ID = MAKE_RETURN_CODE(4); - virtual ~HasActionsIF() { } - /** - * Function to get the MessageQueueId_t of the implementing object - * @return MessageQueueId_t of the object - */ - virtual MessageQueueId_t getCommandQueue() const = 0; - /** - * Execute or initialize the execution of a certain function. - * The ActionHelpers will execute this function and behave differently - * depending on the returnvalue. - * - * @return - * -@c EXECUTION_FINISHED Finish reply will be generated - * -@c Not RETURN_OK Step failure reply will be generated - */ - virtual ReturnValue_t executeAction(ActionId_t actionId, - MessageQueueId_t commandedBy, const uint8_t* data, size_t size) = 0; + static const uint8_t INTERFACE_ID = CLASS_ID::HAS_ACTIONS_IF; + static const ReturnValue_t IS_BUSY = MAKE_RETURN_CODE(1); + static const ReturnValue_t INVALID_PARAMETERS = MAKE_RETURN_CODE(2); + static const ReturnValue_t EXECUTION_FINISHED = MAKE_RETURN_CODE(3); + static const ReturnValue_t INVALID_ACTION_ID = MAKE_RETURN_CODE(4); + virtual ~HasActionsIF() { } + /** + * Function to get the MessageQueueId_t of the implementing object + * @return MessageQueueId_t of the object + */ + virtual MessageQueueId_t getCommandQueue() const = 0; + /** + * Execute or initialize the execution of a certain function. + * The ActionHelpers will execute this function and behave differently + * depending on the returnvalue. + * + * @return + * -@c EXECUTION_FINISHED Finish reply will be generated + * -@c Not RETURN_OK Step failure reply will be generated + */ + virtual ReturnValue_t executeAction(ActionId_t actionId, + MessageQueueId_t commandedBy, const uint8_t* data, size_t size) = 0; }; diff --git a/action/SimpleActionHelper.cpp b/action/SimpleActionHelper.cpp index af57736c8..f77d01473 100644 --- a/action/SimpleActionHelper.cpp +++ b/action/SimpleActionHelper.cpp @@ -2,74 +2,74 @@ #include "SimpleActionHelper.h" SimpleActionHelper::SimpleActionHelper(HasActionsIF* setOwner, - MessageQueueIF* useThisQueue) : - ActionHelper(setOwner, useThisQueue), isExecuting(false) { + MessageQueueIF* useThisQueue) : + ActionHelper(setOwner, useThisQueue), isExecuting(false) { } SimpleActionHelper::~SimpleActionHelper() { } void SimpleActionHelper::step(ReturnValue_t result) { - // STEP_OFFESET is subtracted to compensate for adding offset in base - // method, which is not necessary here. - ActionHelper::step(stepCount - STEP_OFFSET, lastCommander, lastAction, - result); - if (result != HasReturnvaluesIF::RETURN_OK) { - resetHelper(); - } + // STEP_OFFESET is subtracted to compensate for adding offset in base + // method, which is not necessary here. + ActionHelper::step(stepCount - STEP_OFFSET, lastCommander, lastAction, + result); + if (result != HasReturnvaluesIF::RETURN_OK) { + resetHelper(); + } } void SimpleActionHelper::finish(ReturnValue_t result) { - ActionHelper::finish(lastCommander, lastAction, result); - resetHelper(); + ActionHelper::finish(lastCommander, lastAction, result); + resetHelper(); } ReturnValue_t SimpleActionHelper::reportData(SerializeIF* data) { - return ActionHelper::reportData(lastCommander, lastAction, data); + return ActionHelper::reportData(lastCommander, lastAction, data); } void SimpleActionHelper::resetHelper() { - stepCount = 0; - isExecuting = false; - lastAction = 0; - lastCommander = 0; + stepCount = 0; + isExecuting = false; + lastAction = 0; + lastCommander = 0; } void SimpleActionHelper::prepareExecution(MessageQueueId_t commandedBy, - ActionId_t actionId, store_address_t dataAddress) { - CommandMessage reply; - if (isExecuting) { - ipcStore->deleteData(dataAddress); - ActionMessage::setStepReply(&reply, actionId, 0, - HasActionsIF::IS_BUSY); - queueToUse->sendMessage(commandedBy, &reply); - } - const uint8_t* dataPtr = NULL; - size_t size = 0; - ReturnValue_t result = ipcStore->getData(dataAddress, &dataPtr, &size); - if (result != HasReturnvaluesIF::RETURN_OK) { - ActionMessage::setStepReply(&reply, actionId, 0, result); - queueToUse->sendMessage(commandedBy, &reply); - return; - } - lastCommander = commandedBy; - lastAction = actionId; - result = owner->executeAction(actionId, commandedBy, dataPtr, size); - ipcStore->deleteData(dataAddress); - switch (result) { - case HasReturnvaluesIF::RETURN_OK: - isExecuting = true; - stepCount++; - break; - case HasActionsIF::EXECUTION_FINISHED: - ActionMessage::setCompletionReply(&reply, actionId, - HasReturnvaluesIF::RETURN_OK); - queueToUse->sendMessage(commandedBy, &reply); - break; - default: - ActionMessage::setStepReply(&reply, actionId, 0, result); - queueToUse->sendMessage(commandedBy, &reply); - break; - } + ActionId_t actionId, store_address_t dataAddress) { + CommandMessage reply; + if (isExecuting) { + ipcStore->deleteData(dataAddress); + ActionMessage::setStepReply(&reply, actionId, 0, + HasActionsIF::IS_BUSY); + queueToUse->sendMessage(commandedBy, &reply); + } + const uint8_t* dataPtr = NULL; + size_t size = 0; + ReturnValue_t result = ipcStore->getData(dataAddress, &dataPtr, &size); + if (result != HasReturnvaluesIF::RETURN_OK) { + ActionMessage::setStepReply(&reply, actionId, 0, result); + queueToUse->sendMessage(commandedBy, &reply); + return; + } + lastCommander = commandedBy; + lastAction = actionId; + result = owner->executeAction(actionId, commandedBy, dataPtr, size); + ipcStore->deleteData(dataAddress); + switch (result) { + case HasReturnvaluesIF::RETURN_OK: + isExecuting = true; + stepCount++; + break; + case HasActionsIF::EXECUTION_FINISHED: + ActionMessage::setCompletionReply(&reply, actionId, + HasReturnvaluesIF::RETURN_OK); + queueToUse->sendMessage(commandedBy, &reply); + break; + default: + ActionMessage::setStepReply(&reply, actionId, 0, result); + queueToUse->sendMessage(commandedBy, &reply); + break; + } } diff --git a/action/SimpleActionHelper.h b/action/SimpleActionHelper.h index 1f35d9fdf..7c6c4e00e 100644 --- a/action/SimpleActionHelper.h +++ b/action/SimpleActionHelper.h @@ -4,27 +4,27 @@ #include "ActionHelper.h" /** - * @brief This is an action helper which is only able to service one action - * at a time but remembers last commander and last action which - * simplifies usage + * @brief This is an action helper which is only able to service one action + * at a time but remembers last commander and last action which + * simplifies usage */ class SimpleActionHelper: public ActionHelper { public: - SimpleActionHelper(HasActionsIF* setOwner, MessageQueueIF* useThisQueue); - virtual ~SimpleActionHelper(); - void step(ReturnValue_t result = HasReturnvaluesIF::RETURN_OK); - void finish(ReturnValue_t result = HasReturnvaluesIF::RETURN_OK); - ReturnValue_t reportData(SerializeIF* data); + SimpleActionHelper(HasActionsIF* setOwner, MessageQueueIF* useThisQueue); + virtual ~SimpleActionHelper(); + void step(ReturnValue_t result = HasReturnvaluesIF::RETURN_OK); + void finish(ReturnValue_t result = HasReturnvaluesIF::RETURN_OK); + ReturnValue_t reportData(SerializeIF* data); protected: - void prepareExecution(MessageQueueId_t commandedBy, ActionId_t actionId, - store_address_t dataAddress); - virtual void resetHelper(); + void prepareExecution(MessageQueueId_t commandedBy, ActionId_t actionId, + store_address_t dataAddress); + virtual void resetHelper(); private: - bool isExecuting; - MessageQueueId_t lastCommander = MessageQueueIF::NO_QUEUE; - ActionId_t lastAction = 0; - uint8_t stepCount = 0; + bool isExecuting; + MessageQueueId_t lastCommander = MessageQueueIF::NO_QUEUE; + ActionId_t lastAction = 0; + uint8_t stepCount = 0; }; #endif /* SIMPLEACTIONHELPER_H_ */ From 10390de63bb4ed6ca629808a30f59e1f0752d227 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Tue, 9 Feb 2021 14:57:14 +0100 Subject: [PATCH 08/11] changelog update --- CHANGELOG | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/CHANGELOG b/CHANGELOG index 298ef0d41..fc46ee021 100644 --- a/CHANGELOG +++ b/CHANGELOG @@ -81,4 +81,7 @@ now For the fsfw, this can be done by checking the processor define FSFW_CPP_OSTREAM_ENABLED from FSFWConfig.h. For mission code, developers need to replace sif:: calls by the printf counterparts, but only if the CPP stream are excluded. If this is not the case, everything should work as usual. -- \ No newline at end of file + +### PUS Parameter Service 20 + +Added PUS parameter service 20 (only custom subservices available). \ No newline at end of file From dc884249102bdda89efea85e66bdd35c951dcc8d Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Tue, 9 Feb 2021 15:00:10 +0100 Subject: [PATCH 09/11] deleted commented code --- datapool/PoolDataSetBase.cpp | 17 ----------------- 1 file changed, 17 deletions(-) diff --git a/datapool/PoolDataSetBase.cpp b/datapool/PoolDataSetBase.cpp index 7d50a40af..2fd519661 100644 --- a/datapool/PoolDataSetBase.cpp +++ b/datapool/PoolDataSetBase.cpp @@ -229,20 +229,3 @@ void PoolDataSetBase::setReadCommitProtectionBehaviour( this->timeoutTypeForSingleVars = timeoutType; this->mutexTimeoutForSingleVars = mutexTimeout; } - -/* We really should supply the container as a template argument instead of writing sth like this */ -//PoolDataSetBase::PoolDataSetBase(const PoolDataSetBase &otherSet): -// fillCount(otherSet.fillCount), state(otherSet.state), -// maxFillCount(otherSet.maxFillCount), -// protectEveryReadCommitCall(otherSet.protectEveryReadCommitCall), -// timeoutTypeForSingleVars(otherSet.timeoutTypeForSingleVars), -// mutexTimeoutForSingleVars(otherSet.mutexTimeoutForSingleVars) { -// if(registeredVariables != nullptr and otherSet.registeredVariables != nullptr) { -// std::memcpy(reinterpret_cast(*(this->registeredVariables)), -// reinterpret_cast(*(otherSet.registeredVariables)), -// fillCount * sizeof(PoolVariableIF*)); -// } -//} -// -//const PoolDataSetBase& PoolDataSetBase::operator=(const PoolDataSetBase &otherSet) { -//} From e013ae954f35f978c1417d8669f6cb7c138e0ae3 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Mon, 22 Feb 2021 18:00:23 +0100 Subject: [PATCH 10/11] removed missed deadline printout --- osal/linux/PeriodicPosixTask.cpp | 14 -------------- 1 file changed, 14 deletions(-) diff --git a/osal/linux/PeriodicPosixTask.cpp b/osal/linux/PeriodicPosixTask.cpp index a8f2de601..630dd8e0a 100644 --- a/osal/linux/PeriodicPosixTask.cpp +++ b/osal/linux/PeriodicPosixTask.cpp @@ -68,20 +68,6 @@ void PeriodicPosixTask::taskFunctionality(void) { } if(not PosixThread::delayUntil(&lastWakeTime, periodMs)){ - char name[20] = {0}; - int status = pthread_getname_np(pthread_self(), name, sizeof(name)); - if(status == 0) { -#if FSFW_CPP_OSTREAM_ENABLED == 1 - sif::error << "PeriodicPosixTask " << name << ": Deadline " - "missed." << std::endl; -#endif - } - else { -#if FSFW_CPP_OSTREAM_ENABLED == 1 - sif::error << "PeriodicPosixTask X: Deadline missed. " << - status << std::endl; -#endif - } if (this->deadlineMissedFunc != nullptr) { this->deadlineMissedFunc(); } From 144375827441b80a601579fe4395e3bbc19df92c Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Mon, 22 Feb 2021 18:43:09 +0100 Subject: [PATCH 11/11] added new static function to print missed deadline --- osal/FreeRTOS/TaskFactory.cpp | 6 ++++++ osal/host/TaskFactory.cpp | 5 +++++ osal/linux/TaskFactory.cpp | 21 +++++++++++++++++++++ osal/rtems/TaskFactory.cpp | 5 +++++ tasks/TaskFactory.h | 6 ++++++ 5 files changed, 43 insertions(+) diff --git a/osal/FreeRTOS/TaskFactory.cpp b/osal/FreeRTOS/TaskFactory.cpp index 3ac5cb495..5b64811ae 100644 --- a/osal/FreeRTOS/TaskFactory.cpp +++ b/osal/FreeRTOS/TaskFactory.cpp @@ -49,5 +49,11 @@ ReturnValue_t TaskFactory::delayTask(uint32_t delayMs) { return HasReturnvaluesIF::RETURN_OK; } +void TaskFactory::printMissedDeadline() { + /* TODO: Implement */ + return; +} + + TaskFactory::TaskFactory() { } diff --git a/osal/host/TaskFactory.cpp b/osal/host/TaskFactory.cpp index bc65504c8..4fafd3491 100644 --- a/osal/host/TaskFactory.cpp +++ b/osal/host/TaskFactory.cpp @@ -48,4 +48,9 @@ ReturnValue_t TaskFactory::delayTask(uint32_t delayMs){ return HasReturnvaluesIF::RETURN_OK; } +void TaskFactory::printMissedDeadline() { + /* TODO: Implement */ + return; +} + diff --git a/osal/linux/TaskFactory.cpp b/osal/linux/TaskFactory.cpp index d18a03161..935646477 100644 --- a/osal/linux/TaskFactory.cpp +++ b/osal/linux/TaskFactory.cpp @@ -39,5 +39,26 @@ ReturnValue_t TaskFactory::delayTask(uint32_t delayMs){ return PosixThread::sleep(delayMs*1000000ull); } +void TaskFactory::printMissedDeadline() { + char name[20] = {0}; + int status = pthread_getname_np(pthread_self(), name, sizeof(name)); +#if FSFW_CPP_OSTREAM_ENABLED == 1 + if(status == 0) { + sif::warning << "task::printMissedDeadline: " << name << "" << std::endl; + } + else { + sif::warning << "task::printMissedDeadline: Unknown task name" << status << + std::endl; + } +#else + if(status == 0) { + sif::printWarning("task::printMissedDeadline: %s\n", name); + } + else { + sif::printWarning("task::printMissedDeadline: Unknown task name\n", name); + } +#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */ +} + TaskFactory::TaskFactory() { } diff --git a/osal/rtems/TaskFactory.cpp b/osal/rtems/TaskFactory.cpp index 5dad69fe5..095e9a262 100644 --- a/osal/rtems/TaskFactory.cpp +++ b/osal/rtems/TaskFactory.cpp @@ -44,5 +44,10 @@ ReturnValue_t TaskFactory::delayTask(uint32_t delayMs){ return HasReturnvaluesIF::RETURN_OK; } +void TaskFactory::printMissedDeadline() { + /* TODO: Implement */ + return; +} + TaskFactory::TaskFactory() { } diff --git a/tasks/TaskFactory.h b/tasks/TaskFactory.h index 85cdda900..03b5163c4 100644 --- a/tasks/TaskFactory.h +++ b/tasks/TaskFactory.h @@ -62,6 +62,12 @@ public: */ static ReturnValue_t delayTask(uint32_t delayMs); + /** + * OS specific implementation to print deadline. In most cases, there is a OS specific + * way to retrieve the task name and print it out as well. + */ + static void printMissedDeadline(); + private: /** * External instantiation is not allowed.